期刊
IEEE ROBOTICS AND AUTOMATION LETTERS
卷 6, 期 2, 页码 1399-1406出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/LRA.2021.3058069
关键词
SLAM; localization; mapping; field robotics
类别
资金
- ANR/DGA project MALIN
OV(2)SLAM is a fully online algorithm for various applications such as augmented reality, virtual reality, robotics and autonomous driving. It combines recent contributions in visual localization within an efficient multi-threaded architecture, demonstrating state-of-the-art accuracy and real-time performance. The source code is released for the benefit of the community.
Many applications of Visual SLAM, such as augmented reality, virtual reality, robotics or autonomous driving, require versatile, robust and precise solutions, most often with real-time capability. In this work, we describe OV(2)SLAM, a fully online algorithm, handling both monocular and stereo camera setups, various map scales and frame-rates ranging from a few Hertz up to several hundreds. It combines numerous recent contributions in visual localization within an efficient multi-threaded architecture. Extensive comparisons with competing algorithms shows the state-of-the-art accuracy and real-time performance of the resulting algorithm. For the benefit of the community, we release the source code: https://github.com/ov2slam/ov2slam.
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