ORB-SLAM2是一个实时SLAM库，适用于单目、立体和RGB-D相机，提供相机轨迹和3D重建。它可以检测并处理闭环，实现实时重新定位。本文介绍了ORB-SLAM2的配置过程，包括依赖安装、数据集处理，并展示了如何在TUM RGB-D数据集上运行。此外，还提到了ORB-SLAM2的优缺点及其在SLAM领域的地位。
- ORB-slam介绍
ORB-SLAM2 is a real-time SLAM library for Monocular, Stereo and RGB-D cameras that computes the camera trajectory and a sparse 3D reconstruction (in the stereo and RGB-D case with true scale). It is able to detect loops and relocalize the camera in real time. We provide examples to run the SLAM system in the KITTI dataset as stereo or monocular, in the TUM dataset as RGB-D or monocular, and in the EuRoC dataset as stereo or monocular. We also provide a ROS node to process live monocular, stereo or RGB-D streams. The library can be compiled without ROS. ORB-SLAM2 provides a GUI to change between a SLAM Mode and Localization Mode, see section 9 of this document.
作为目前开源的slam项目之一，ORB-SLAM的效果是非常好的。基于ORB特征点的方法使其能准确的对图像进行匹配，进而计算出两帧图像的位姿变化，采用g2o作为后端优化工具，能有效的减少对特征点位置和自身位姿的估计误差，采用DBOW减少了寻找特征的计算量，同时回环匹配和重定位效果较好。同时还有单目、双目、RGBD相机的接口，唯一美中不足的是构建出的地图是稀疏点云图。只保留了图像中特征点的一部分作为关键点，固定在空间中进行定位，很难描绘地图中
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