32799 20210121114444.0 doi 10.1109/TRO.2015.2463671 sideral 92309 ART-2015-92309 eng (orcid)0000-0003-2026-5092 Mur-Artal, R. Universidad de Zaragoza ORB-SLAM: A Versatile and Accurate Monocular SLAM System 2015 Access copy available to the general public Unrestricted This 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. info:eu-repo/grantAgreement/ES/MINECO/DPI2012-32168 info:eu-repo/grantAgreement/ES/MEC/FPU13-04175 info:eu-repo/grantAgreement/ES/DGA/B121-13 info:eu-repo/semantics/openAccess All rights reserved http://www.europeana.eu/rights/rr-f/ 2.028 2015 ROBOTICS 7 / 25 = 0.28 2015 Q2 T1 2.271 2015 Computer Science Applications 2015 Q1 Electrical and Electronic Engineering 2015 Q1 Control and Systems Engineering 2015 Q1 info:eu-repo/semantics/article info:eu-repo/semantics/acceptedVersion (orcid)0000-0002-3627-7306 Montiel, J.M.M. Universidad de Zaragoza (orcid)0000-0002-4518-5876 Tardos, J.D. Universidad de Zaragoza 5007 520 Universidad de Zaragoza Dpto. Informát.Ingenie.Sistms. Área Ingen.Sistemas y Automát. 31, 5 (2015), 1147-1163 IEEE Trans. Robot. IEEE Transactions on Robotics 1552-3098 4097050 http://zaguan.unizar.es/record/32799/files/texto_completo.pdf Postprint 135373 http://zaguan.unizar.es/record/32799/files/texto_completo.jpg?subformat=icon icon Postprint oai:zaguan.unizar.es:32799 articulos driver 2021-01-21-10:42:10 ARTICLE