[Video] ORB-SLAM in the KITTI dataset ORB-SLAM在KITTI数据集上的测试

Original post is by Andrew Davison on Google+.

The source code has just been released for ORB-SLAM by Raul Mur-Artal, +J.M. Martínez Montiel and +Mingo Tardós from the University of Zaragoza. This is a real-time monocular SLAM system which works in many different scenarios (indoor, outdoor, small or large scale) and these are probably the most accurate large scale single camera only (no IMU) SLAM results I’ve ever seen. It’s based on ORB features and a scale drift aware BA back-end. Great competition for LSD-SLAM (and it’s very interesting to look at the pros and cons of  these two approaches). Raul, congrats on getting the code out!
Code: https://github.com/raulmur/ORB_SLAM
Project Webpage: http://webdiis.unizar.es/~raulmur/orbslam/