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SMalpica · Jan 24, 2016 · 5779baf · 5779baf
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 # ORB-SLAM2
 #### Current version: 1.0.0 
 
-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 system in the [KITTI dataset](http://www.cvlibs.net/datasets/kitti/eval_odometry.php) as stereo or monocular, and in the [TUM dataset](http://vision.in.tum.de/data/datasets/rgbd-dataset) as RGB-D or monocular. We also provide a ROS node to process live monocular or RGB-D streams. **The system can be compiled without ROS**. ORB-SLAM2 provides an interface to change between *SLAM Mode* and *Localization Mode* (only camera tracking, no map building).
+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 system in the [KITTI dataset](http://www.cvlibs.net/datasets/kitti/eval_odometry.php) as stereo or monocular, and in the [TUM dataset](http://vision.in.tum.de/data/datasets/rgbd-dataset) as RGB-D or monocular. We also provide a ROS node to process live monocular or RGB-D streams. **The library can be compiled without ROS**. ORB-SLAM2 provides an interface to change between *SLAM Mode* and *Localization Mode* (only camera tracking, no map building).
 
 **Notice for ORB-SLAM Monocular users:**
 The monocular capabilities of ORB-SLAM2 compared to [ORB-SLAM Monocular](https://github.com/raulmur/ORB_SLAM), are similar. However in ORB-SLAM2 we apply a full bundle adjustment after a loop closure, the extraction of ORB is slightly different (trying to improve the dispersion on the image) and the tracking is also slightly faster. The interface of ORB-SLAM2 also provides you new capabilities as the *modes* mentioned above and a reset button. We recommend you to try this new software :)