ORB-SLAM2: An Open-Source SLAM System for Monocular, Stereo, and RGB-D Cameras

We present ORB-SLAM2, a complete SLAM system for monocular, stereo and RGB-D cameras, including map reuse, loop closing and relocalization capabilities. The system works in real-time on standard CPUs in a wide variety of environments from small hand-held indoors sequences, to drones flying in industrial environments and cars driving around a city. Our back-end based on bundle adjustment with monocular and stereo observations allows for accurate trajectory estimation with metric scale.