ORB-SLAM2S: A Fast ORB-SLAM2 System with Sparse Optical Flow Tracking

Yufeng Diao,Ruping Cen,Fangzheng Xue,Xiaojie Su

2021 13th International Conference on Advanced Computational Intelligence (ICACI)（2021）

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摘要

This paper presents ORB-SLAM2S, a fast and complete simultaneous localization and mapping (SLAM) system based on ORB-SLAM2 for monocular, stereo, and RGB-D cameras. The system works, ensuring accuracy simultaneously, in real-time on standard central processing units (CPU) at a faster speed in small and large indoor and outdoor environments. The system includes a lightweight front-end which is a sp...

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关键词

Visualization,Simultaneous localization and mapping,Cameras,Real-time systems,Aircraft navigation,Central Processing Unit,Trajectory

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