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Changelog
ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAM
-OpenCV static matrices changed to Eigen matrices. The average code speed-up is 16% in tracking and 19% in mapping, w.r.t. times reported in the ORB-SLAM3 paper. -New calibration file format, see file Calibration_Tutorial. Added options for stereo rectification and image resizing. -Added load/save map functionalities. -Added examples of live SLAM using Intel Realsense cameras. -Fixed several b...
V0.4: Beta version
This version of the code used to obtain the experimental results reported in the TRO paper [1].
Changed OpenCV dynamic matrices to OpenCV static matrices to speed up the code.
Capability to measure running time of the system threads.
Compatibility with OpenCV 4.0 (Requires at least OpenCV 3.0)
Fixed minor bugs.
[1] C. Campos, R. Elvira, J. J. G. Rod...
RGB-D compatibility, the RGB-D examples had been adapted to the new version.
Kitti and TUM dataset compatibility, these examples had been adapted to the new version.
ROS compatibility, It had been updated the old references in the code to work with this version.
Config file parser, the YAML file contains the session configuration, a wrong parametrization may break the execution wi...
Release v0.2-beta