000032799 001__ 32799 000032799 005__ 20210121114444.0 000032799 0247_ $$2doi$$a10.1109/TRO.2015.2463671 000032799 0248_ $$2sideral$$a92309 000032799 037__ $$aART-2015-92309 000032799 041__ $$aeng 000032799 100__ $$0(orcid)0000-0003-2026-5092$$aMur-Artal, R.$$uUniversidad de Zaragoza 000032799 245__ $$aORB-SLAM: A Versatile and Accurate Monocular SLAM System 000032799 260__ $$c2015 000032799 5060_ $$aAccess copy available to the general public$$fUnrestricted 000032799 5203_ $$aThis paper presents ORB-SLAM, a feature-based monocular simultaneous localization and mapping (SLAM) system that operates in real time, in small and large indoor and outdoor environments. The system is robust to severe motion clutter, allows wide baseline loop closing and relocalization, and includes full automatic initialization. Building on excellent algorithms of recent years, we designed from scratch a novel system that uses the same features for all SLAM tasks: tracking, mapping, relocalization, and loop closing. A survival of the fittest strategy that selects the points and keyframes of the reconstruction leads to excellent robustness and generates a compact and trackable map that only grows if the scene content changes, allowing lifelong operation. We present an exhaustive evaluation in 27 sequences from the most popular datasets. ORB-SLAM achieves unprecedented performance with respect to other state-of-the-art monocular SLAM approaches. For the benefit of the community, we make the source code public. 000032799 536__ $$9info:eu-repo/grantAgreement/ES/MINECO/DPI2012-32168$$9info:eu-repo/grantAgreement/ES/MEC/FPU13-04175$$9info:eu-repo/grantAgreement/ES/DGA/B121-13 000032799 540__ $$9info:eu-repo/semantics/openAccess$$aAll rights reserved$$uhttp://www.europeana.eu/rights/rr-f/ 000032799 590__ $$a2.028$$b2015 000032799 591__ $$aROBOTICS$$b7 / 25 = 0.28$$c2015$$dQ2$$eT1 000032799 592__ $$a2.271$$b2015 000032799 593__ $$aComputer Science Applications$$c2015$$dQ1 000032799 593__ $$aElectrical and Electronic Engineering$$c2015$$dQ1 000032799 593__ $$aControl and Systems Engineering$$c2015$$dQ1 000032799 655_4 $$ainfo:eu-repo/semantics/article$$vinfo:eu-repo/semantics/acceptedVersion 000032799 700__ $$0(orcid)0000-0002-3627-7306$$aMontiel, J.M.M.$$uUniversidad de Zaragoza 000032799 700__ $$0(orcid)0000-0002-4518-5876$$aTardos, J.D.$$uUniversidad de Zaragoza 000032799 7102_ $$15007$$2520$$aUniversidad de Zaragoza$$bDpto. Informát.Ingenie.Sistms.$$cÁrea Ingen.Sistemas y Automát. 000032799 773__ $$g31, 5 (2015), 1147-1163$$pIEEE Trans. Robot.$$tIEEE Transactions on Robotics$$x1552-3098 000032799 8564_ $$s4097050$$uhttps://zaguan.unizar.es/record/32799/files/texto_completo.pdf$$yPostprint 000032799 8564_ $$s135373$$uhttps://zaguan.unizar.es/record/32799/files/texto_completo.jpg?subformat=icon$$xicon$$yPostprint 000032799 909CO $$ooai:zaguan.unizar.es:32799$$particulos$$pdriver 000032799 951__ $$a2021-01-21-10:42:10 000032799 980__ $$aARTICLE