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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](http://www.cvlibs.net/datasets/kitti/eval_odometry.php) as stereo or monocular, in the [TUM dataset](http://vision.in.tum.de/data/datasets/rgbd-dataset) as RGB-D or monocular, and in the [EuRoC dataset](http://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets) 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.

#####Videos showing ORB-SLAM2:

<a href="https://www.youtube.com/embed/ufvPS5wJAx0" target="_blank"><img src="http://img.youtube.com/vi/ufvPS5wJAx0/0.jpg"
alt="ORB-SLAM2" width="240" height="180" border="10" /></a>


###Related Publications:

[Monocular] Raúl Mur-Artal, J. M. M. Montiel and Juan D. Tardós. **ORB-SLAM: A Versatile and Accurate Monocular SLAM System**. *IEEE Transactions on Robotics,* vol. 31, no. 5, pp. 1147-1163, 2015. (2015 IEEE Transactions on Robotics **Best Paper Award**). **[PDF](http://webdiis.unizar.es/~raulmur/MurMontielTardosTRO15.pdf)**.
[Monocular] Raúl Mur-Artal, J. M. M. Montiel and Juan D. Tardós. **ORB-SLAM: A Versatile and Accurate Monocular SLAM System**. *IEEE Transactions on Robotics,* vol. 31, no. 5, pp. 1147-1163, 2015. (**2015 IEEE Transactions on Robotics Best Paper Award**). **[PDF](http://webdiis.unizar.es/~raulmur/MurMontielTardosTRO15.pdf)**.

[Stereo and RGB-D] Raúl Mur-Artal and Juan D. Tardós. **ORB-SLAM2: an Open-Source SLAM System for Monocular, Stereo and RGB-D Cameras**. *ArXiv preprint arXiv:1610.06475* **[PDF](https://128.84.21.199/pdf/1610.06475.pdf)**.

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