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ORB-SLAM2: an Open-Source SLAM System for Monocular, Stereo and RGB-D Cameras

arXiv 1610.06475 ↗First posted 20 Oct 2016cs.RO cs.CVcited by 801

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Abstract (arXiv)

We present ORB-SLAM2 a complete SLAM system for monocular, stereo and RGB-D cameras, including map reuse, loop closing and relocalization capabilities. The system works in real-time on standard CPUs in a wide variety of environments from small hand-held indoors sequences, to drones flying in industrial environments and cars driving around a city. Our back-end based on bundle adjustment with monocular and stereo observations allows for accurate trajectory estimation with metric scale. Our system includes a lightweight localization mode that leverages visual odometry tracks for unmapped regions and matches to map points that allow for zero-drift localization. The evaluation on 29 popular public sequences shows that our method achieves state-of-the-art accuracy, being in most cases the most accurate SLAM solution. We publish the source code, not only for the benefit of the SLAM community, but with the aim of being an out-of-the-box SLAM solution for researchers in other fields.

Key facts. Cited by 801 papers in the map (data through 7 Oct 2026). First posted on arXiv 20 Oct 2016.

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 133; 2022: 131; 2023: 116; 2024: 155; 2025: 140; 2026: 126.

801 papers.

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  1. 2021DROID-SLAM: Deep Visual SLAM for Monocular, Stereo, and RGB-D Camerascited by 673
  2. 2021NICE-SLAM: Neural Implicit Scalable Encoding for SLAMcited by 586
  3. 2021KITTI-360: A Novel Dataset and Benchmarks for Urban Scene Understanding in 2D and 3Dcited by 570
  4. 2021iMAP: Implicit Mapping and Positioning in Real-Timecited by 476
  5. 2024MonST3R: A Simple Approach for Estimating Geometry in the Presence of Motioncited by 431
  6. 2023Gaussian Splatting SLAMcited by 410
  7. 2024Metric3Dv2: A Versatile Monocular Geometric Foundation Model for Zero-shot Metric Depth and Surface Normal Estimationcited by 389
  8. 2023SplaTAM: Splat, Track & Map 3D Gaussians for Dense RGB-D SLAMcited by 386
  9. 2023Metric3D: Towards Zero-shot Metric 3D Prediction from A Single Imagecited by 357
  10. 2025Fast3R: Towards 3D Reconstruction of 1000+ Images in One Forward Passcited by 356
  11. 2023GS-SLAM: Dense Visual SLAM with 3D Gaussian Splattingcited by 278
  12. 2024A Survey on 3D Gaussian Splattingcited by 221
38 more
  1. 2023Project Aria: A New Tool for Egocentric Multi-Modal AI Researchcited by 201
  2. 2023Robust Dynamic Radiance Fieldscited by 193
  3. 2022NeRF-SLAM: Real-Time Dense Monocular SLAM with Neural Radiance Fieldscited by 188
  4. 2022Deep Patch Visual Odometrycited by 186
  5. 2023Co-SLAM: Joint Coordinate and Sparse Parametric Encodings for Neural Real-Time SLAMcited by 183
  6. 2022ASpanFormer: Detector-Free Image Matching with Adaptive Span Transformercited by 170
  7. 2023NICER-SLAM: Neural Implicit Scene Encoding for RGB SLAMcited by 162
  8. 2023Point-SLAM: Dense Neural Point Cloud-based SLAMcited by 160
  9. 2022ESLAM: Efficient Dense SLAM System Based on Hybrid Representation of Signed Distance Fieldscited by 158
  10. 2023Gaussian-SLAM: Photo-realistic Dense SLAM with Gaussian Splattingcited by 152
  11. 2022Vox-Fusion: Dense Tracking and Mapping with Voxel-based Neural Implicit Representationcited by 149
  12. 2021Kimera: from SLAM to Spatial Perception with 3D Dynamic Scene Graphscited by 144
  13. 2023Photo-SLAM: Real-time Simultaneous Localization and Photorealistic Mapping for Monocular, Stereo, and RGB-D Camerascited by 139
  14. 2025MUSt3R: Multi-view Network for Stereo 3D Reconstructioncited by 139
  15. 2023GO-SLAM: Global Optimization for Consistent 3D Instant Reconstructioncited by 132
  16. 2021Seeing biodiversity: perspectives in machine learning for wildlife conservationcited by 129
  17. 2024Cameras as Rays: Pose Estimation via Ray Diffusioncited by 129
  18. 2024Efficient LoFTR: Semi-Dense Local Feature Matching with Sparse-Like Speedcited by 119
  19. 2024XFeat: Accelerated Features for Lightweight Image Matchingcited by 113
  20. 2025VGGT-Long: Chunk it, Loop it, Align it -- Pushing VGGT's Limits on Kilometer-scale Long RGB Sequencescited by 107
  21. 2024TRAM: Global Trajectory and Motion of 3D Humans from in-the-wild Videoscited by 105
  22. 2023Progressively Optimized Local Radiance Fields for Robust View Synthesiscited by 103
  23. 2022TransVPR: Transformer-based place recognition with multi-level attention aggregationcited by 102
  24. 2022RelPose: Predicting Probabilistic Relative Rotation for Single Objects in the Wildcited by 102
  25. 2024SLAM3R: Real-Time Dense Scene Reconstruction from Monocular RGB Videoscited by 100
  26. 2025FastVGGT: Training-Free Acceleration of Visual Geometry Transformercited by 93
  27. 2022Event-aided Direct Sparse Odometrycited by 91
  28. 2023RelPose++: Recovering 6D Poses from Sparse-view Observationscited by 87
  29. 2024NeRF On-the-go: Exploiting Uncertainty for Distractor-free NeRFs in the Wildcited by 85
  30. 2021Endo-Depth-and-Motion: Reconstruction and Tracking in Endoscopic Videos using Depth Networks and Photometric Constraintscited by 80
  31. 2022Orbeez-SLAM: A Real-time Monocular Visual SLAM with ORB Features and NeRF-realized Mappingcited by 79
  32. 2021ALIKE: Accurate and Lightweight Keypoint Detection and Descriptor Extractioncited by 77
  33. 2024How NeRFs and 3D Gaussian Splatting are Reshaping SLAM: a Surveycited by 72
  34. 2021Unsupervised Scale-consistent Depth Learning from Videocited by 69
  35. 2025Pow3R: Empowering Unconstrained 3D Reconstruction with Camera and Scene Priorscited by 69
  36. 2024Deep Patch Visual SLAMcited by 68
  37. 2024RGBD GS-ICP SLAMcited by 65
  38. 2023PLGSLAM: Progressive Neural Scene Represenation with Local to Global Bundle Adjustmentcited by 62

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