ORBSLAM3

Localization

ORB-SLAM3 is a state-of-the-art real-time visual, visual-inertial, and multi-map SLAM (Simultaneous Localization and Mapping) system. It extends the capabilities of previous versions (ORB-SLAM and ORB-SLAM2) by supporting monocular, stereo, and RGB-D cameras, as well as integration with IMU data for visual-inertial odometry. ORB-SLAM3 can operate in complex and dynamic environments, enabling accurate localization and 3D map reconstruction. It features robust tracking, automatic map initialization, loop closing, and map merging, making it one of the most versatile and reliable open-source SLAM frameworks used in robotics, AR/VR, and autonomous navigation.

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Tracking
Local Mapping
dLoop Closing
iMap Management
IMU Integration (Visual-Inertial)
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Caption photos easily. On the left, a road goes through a tunnel. Middle, leaves artistically fall in a hipster photoshoot. Right, in another hipster photoshoot, a lumberjack grasps a handful of pine needles.
ORBSLAM#

In summary, ORB-SLAM3 provides a powerful and flexible framework for real-time visual and visual-inertial SLAM. Its modular structure — including tracking, local mapping, and loop closing — allows the system to achieve high accuracy and robustness in a wide range of environments.

SLAM

Moreover, with the integration of IMU data and multi-map management, ORB-SLAM3 significantly improves performance in challenging scenarios such as rapid motion, lighting changes, or long-term navigation. These advantages make it an excellent choice for research and applications in robotics, autonomous vehicles, and augmented reality.

References