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A Modification of ORB-SLAM2 for Multi-Robot SLAM
2023 35th Chinese Control and Decision Conference (CCDC), 2023ORB-SLAM2 consumes much time on descriptors calculating, which is a great challenge for real-time performance of SLAM. In this paper, we proposed a modified ORB-SLAM2 method named SD-SLAM2, which achieved better real-time performance than ORB-SLAM2, by ...
Jiabin Chen, Feipeng Zhao, Junyu Liang
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Advanced ORB-SLAM2 Based on Target Enhancement and Binary Transformation
2025 IEEE 14th Data Driven Control and Learning Systems (DDCLS)Visual 3D reconstruction aims to extract detailed information of relevant real-world scenarios with the help of computer vision and sensor devices such as industrial cameras. Vision SLAM refers to the use of vision sensors to achieve self-positioning and
Jing Ling +3 more
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Improved Mapping Technique Based on ORB-SLAM2 in Dynamic Scenes
2023 2nd International Conference on Automation, Robotics and Computer Engineering (ICARCE), 2023At present, in the simultaneous localization and map construction (SLAM) algorithm, the more mature technology is the map construction in the static environment.
Liangyu Wang, Zhijing Xu
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Research on Lidar Vision Data Fusion Algorithm Based on Improved ORB-SLAM2
2025 4th International Conference on Artificial Intelligence, Internet of Things and Cloud Computing Technology (AIoTC)To address the issue of feature point loss in pure visual SLAM (Simultaneous Localization and Mapping) in complex environments, which leads to localization failure and poor mapping performance, this paper proposes an improved ORBSLAM2 algorithm by ...
Yaping Bai +5 more
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Semantic stereo visual SLAM toward outdoor dynamic environments based on ORB-SLAM2
Industrial Robot: the international journal of robotics research and application, 2023Purpose The prerequisite for most traditional visual simultaneous localization and mapping (V-SLAM) algorithms is that most objects in the environment should be static or in low-speed locomotion. These algorithms rely on geometric information of the environment and restrict the application scenarios with dynamic ...
Yawen Li +4 more
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Research on Building Density Map Construction with Improved ORB-SLAM2
2024 5th International Symposium on Computer Engineering and Intelligent Communications (ISCEIC)ORB-SLAM2 (Oriented FAST and Rotated BRIEF SLAM) is an efficient visual SLAM algorithm widely used in fields such as robot navigation and autonomous driving.
Qingguo Jiang +4 more
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Implementation and optimization of ORB-SLAM2 algorithm based on ROS on mobile robots
Third International Conference on Machine Learning and Computer Application (ICMLCA 2022), 2023ORB-SLAM2 based on depth camera cannot run directly in ROS operating system, and when the algorithm is implemented through PC, it does not efficiently carry computer resources, and reduces the flexibility of mobile robots.
Guimao Zhang, Liu Bo Liu, Zhihong Liang
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Comparative Analysis of ORB-SLAM2 and ORB-SLAM3 Under Visual Image Degradations
2025 Innovations in Intelligent Systems and Applications Conference (ASYU)This paper presents a comprehensive performance comparison between ORB-SLAM2 and ORB-SLAM3 systems under various image degradation scenarios. The freiburg3_sitting_halfsphere sequence from the TUM RGB-D dataset, which includes dynamic scenes, served as ...
Dursun Alp Kizilöz, Murat Peker
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Evaluation of ORB-SLAM2 and Stereo-DSO in Complex Indoor-Outdoor Scenes
2023 IEEE 6th International Conference on Electronic Information and Communication Technology (ICEICT), 2023The application of the visual SLAM (Simultaneous Localization and Mapping) algorithm in the domain of robotic navigation has been increasingly widespread.
Wenpu Li +5 more
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Autonomous Drone Navigation using Monocular ORB-SLAM2 in Structured Environments
2024 XXVI Robotics Mexican Congress (COMRob)The present work shows and tests experimentally a methodology to perform autonomous drone navigation solely relying in visual data, based on simultaneous localization and mapping.
Jesús Abimael Contreras Carlos +3 more
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