OV$^{2}$SLAM : A Fully Online and Versatile Visual SLAM for Real-Time Applications

• URL: http://arxiv.org/abs/2102.04060v1
• Date: Mon, 8 Feb 2021 08:39:23 GMT
• Title: OV$^{2}$SLAM : A Fully Online and Versatile Visual SLAM for Real-Time Applications
• Authors: Maxime Ferrera, Alexandre Eudes, Julien Moras, Martial Sanfourche, Guy Le Besnerais
• Abstract summary: We describe OV$2$SLAM, a fully online algorithm, handling both monocular and stereo camera setups, various map scales and frame-rates ranging from a few Hertz up to several hundreds. For the benefit of the community, we release the source code: urlhttps://github.com/ov2slam/ov2slam.
• Score: 59.013743002557646
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Many applications of Visual SLAM, such as augmented reality, virtual reality, robotics or autonomous driving, require versatile, robust and precise solutions, most often with real-time capability. In this work, we describe OV$^{2}$SLAM, a fully online algorithm, handling both monocular and stereo camera setups, various map scales and frame-rates ranging from a few Hertz up to several hundreds. It combines numerous recent contributions in visual localization within an efficient multi-threaded architecture. Extensive comparisons with competing algorithms shows the state-of-the-art accuracy and real-time performance of the resulting algorithm. For the benefit of the community, we release the source code: \url{https://github.com/ov2slam/ov2slam}.

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