mlsanityData to 7 Oct 2026

ORB-SLAM: a Versatile and Accurate Monocular SLAM System

arXiv 1502.00956 ↗First posted 3 Feb 2015cs.RO cs.CVcited by 983

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Abstract (arXiv)

This paper presents ORB-SLAM, a feature-based monocular SLAM system that operates in real time, in small and large, indoor and outdoor environments. The system is robust to severe motion clutter, allows wide baseline loop closing and relocalization, and includes full automatic initialization. Building on excellent algorithms of recent years, we designed from scratch a novel system that uses the same features for all SLAM tasks: tracking, mapping, relocalization, and loop closing. A survival of the fittest strategy that selects the points and keyframes of the reconstruction leads to excellent robustness and generates a compact and trackable map that only grows if the scene content changes, allowing lifelong operation. We present an exhaustive evaluation in 27 sequences from the most popular datasets. ORB-SLAM achieves unprecedented performance with respect to other state-of-the-art monocular SLAM approaches. For the benefit of the community, we make the source code public.

Key facts. Cited by 983 papers in the map (data through 7 Oct 2026). First posted on arXiv 3 Feb 2015.

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Citing papers per year: 2018: 1; 2019: 0; 2020: 0; 2021: 143; 2022: 161; 2023: 165; 2024: 181; 2025: 190; 2026: 142.

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  1. 2023DUSt3R: Geometric 3D Vision Made Easycited by 1,526
  2. 2024Grounding Image Matching in 3D with MASt3Rcited by 960
  3. 2021DROID-SLAM: Deep Visual SLAM for Monocular, Stereo, and RGB-D Camerascited by 673
  4. 2021BARF: Bundle-Adjusting Neural Radiance Fieldscited by 641
  5. 2025Depth Anything 3: Recovering the Visual Space from Any Viewscited by 626
  6. 2023LightGlue: Local Feature Matching at Light Speedcited by 583
  7. 2025Continuous 3D Perception Model with Persistent Statecited by 527
  8. 2024MonST3R: A Simple Approach for Estimating Geometry in the Presence of Motioncited by 431
  9. 2023Gaussian Splatting SLAMcited by 410
  10. 2025Fast3R: Towards 3D Reconstruction of 1000+ Images in One Forward Passcited by 356
  11. 2025π3: Permutation-Equivariant Visual Geometry Learningcited by 292
  12. 20243D Reconstruction with Spatial Memorycited by 269
38 more
  1. 2022Panoptic Neural Fields: A Semantic Object-Aware Neural Scene Representationcited by 243
  2. 2021Patch-NetVLAD: Multi-Scale Fusion of Locally-Global Descriptors for Place Recognitioncited by 236
  3. 2024MegaSaM: Accurate, Fast, and Robust Structure and Motion from Casual Dynamic Videoscited by 224
  4. 2024MASt3R-SLAM: Real-Time Dense SLAM with 3D Reconstruction Priorscited by 198
  5. 2023Robust Dynamic Radiance Fieldscited by 193
  6. 2023COLMAP-Free 3D Gaussian Splattingcited by 193
  7. 2022Deep Patch Visual Odometrycited by 186
  8. 2024Aligning Cyber Space with Physical World: A Comprehensive Survey on Embodied AIcited by 175
  9. 2022DKM: Dense Kernelized Feature Matching for Geometry Estimationcited by 174
  10. 2022ASpanFormer: Detector-Free Image Matching with Adaptive Span Transformercited by 170
  11. 2023ETPNav: Evolving Topological Planning for Vision-Language Navigation in Continuous Environmentscited by 165
  12. 2023NICER-SLAM: Neural Implicit Scene Encoding for RGB SLAMcited by 162
  13. 2025ViPE: Video Pose Engine for 3D Geometric Perceptioncited by 162
  14. 2024MASt3R-SfM: a Fully-Integrated Solution for Unconstrained Structure-from-Motioncited by 161
  15. 2021NeRF--: Neural Radiance Fields Without Known Camera Parameterscited by 155
  16. 2022OnePose: One-Shot Object Pose Estimation without CAD Modelscited by 155
  17. 2022Vox-Fusion: Dense Tracking and Mapping with Voxel-based Neural Implicit Representationcited by 149
  18. 2023PoseDiffusion: Solving Pose Estimation via Diffusion-aided Bundle Adjustmentcited by 146
  19. 2023BundleSDF: Neural 6-DoF Tracking and 3D Reconstruction of Unknown Objectscited by 144
  20. 2023Photo-SLAM: Real-time Simultaneous Localization and Photorealistic Mapping for Monocular, Stereo, and RGB-D Camerascited by 139
  21. 2023GO-SLAM: Global Optimization for Consistent 3D Instant Reconstructioncited by 132
  22. 2024Cameras as Rays: Pose Estimation via Ray Diffusioncited by 129
  23. 2025TTT3R: 3D Reconstruction as Test-Time Trainingcited by 122
  24. 2024Efficient LoFTR: Semi-Dense Local Feature Matching with Sparse-Like Speedcited by 119
  25. 2023ZeroNVS: Zero-Shot 360-Degree View Synthesis from a Single Imagecited by 109
  26. 2024Nymeria: A Massive Collection of Multimodal Egocentric Daily Motion in the Wildcited by 109
  27. 2025VGGT-Long: Chunk it, Loop it, Align it -- Pushing VGGT's Limits on Kilometer-scale Long RGB Sequencescited by 107
  28. 2024URDFormer: A Pipeline for Constructing Articulated Simulation Environments from Real-World Imagescited by 106
  29. 2023Progressively Optimized Local Radiance Fields for Robust View Synthesiscited by 103
  30. 2022RelPose: Predicting Probabilistic Relative Rotation for Single Objects in the Wildcited by 102
  31. 2024SLAM3R: Real-Time Dense Scene Reconstruction from Monocular RGB Videoscited by 100
  32. 2023Toward General-Purpose Robots via Foundation Models: A Survey and Meta-Analysiscited by 99
  33. 2025FastVGGT: Training-Free Acceleration of Visual Geometry Transformercited by 93
  34. 2021Learning to Match Features with Seeded Graph Matching Networkcited by 92
  35. 2022GSV-Cities: Toward Appropriate Supervised Visual Place Recognitioncited by 92
  36. 2022Event-aided Direct Sparse Odometrycited by 91
  37. 2022ParticleSfM: Exploiting Dense Point Trajectories for Localizing Moving Cameras in the Wildcited by 90
  38. 2024Stereo4D: Learning How Things Move in 3D from Internet Stereo Videoscited by 89

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