# OV2SLAM : A Fully Online and Versatile Visual SLAM for Real-Time Applications

arXiv: https://arxiv.org/abs/2102.04060 · HTML: https://mlsanity.com/paper/2102.04060/

## Key facts

- Cited by 8 papers in the map (data through 14 Oct 2026).
- Builds on 10 of its 40 references that are in the map.
- First posted on arXiv 8 Feb 2021.

## Builds on (most cited first, 10 of 10)

- [SuperGlue: Learning Feature Matching with Graph Neural Networks](https://mlsanity.com/paper/1911.11763/) (2019)
- [SuperPoint: Self-Supervised Interest Point Detection and Description](https://mlsanity.com/paper/1712.07629/) (2017)
- [ORB-SLAM2: an Open-Source SLAM System for Monocular, Stereo and RGB-D Cameras](https://mlsanity.com/paper/1610.06475/) (2016)
- [TartanAir: A Dataset to Push the Limits of Visual SLAM](https://mlsanity.com/paper/2003.14338/) (2020)
- [Direct Sparse Odometry](https://mlsanity.com/paper/1607.02565/) (2016)
- [VINS-Mono: A Robust and Versatile Monocular Visual-Inertial State Estimator](https://mlsanity.com/paper/1708.03852/) (2017)
- [Visual-Inertial Mapping with Non-Linear Factor Recovery](https://mlsanity.com/paper/1904.06504/) (2019)
- [A General Optimization-based Framework for Local Odometry Estimation with Multiple Sensors](https://mlsanity.com/paper/1901.03638/) (2019)
- [iBoW-LCD: An Appearance-based Loop Closure Detection Approach using Incremental Bags of Binary Words](https://mlsanity.com/paper/1802.05909/) (2018)
- [Challenges in Monocular Visual Odometry: Photometric Calibration, Motion Bias and Rolling Shutter Effect](https://mlsanity.com/paper/1705.04300/) (2017)

## Built on by (most cited first, 8 of 8)

- [Visual SLAM: What are the Current Trends and What to Expect?](https://mlsanity.com/paper/2210.10491/) (2022)
- [Breaking of brightness consistency in optical flow with a lightweight CNN network](https://mlsanity.com/paper/2310.15655/) (2023)
- [Monocular visual simultaneous localization and mapping: (r)evolution from geometry to deep learning-based pipelines](https://mlsanity.com/paper/2503.02955/) (2025)
- [Hyperspectral 3D Mapping of Underwater Environments](https://mlsanity.com/paper/2110.06571/) (2021)
- [Semi-supervised Vector-Quantization in Visual SLAM using HGCN](https://mlsanity.com/paper/2207.06738/) (2022)
- [ADA-DPM: A Neural Descriptors-based Adaptive Noise Filtering Strategy for SLAM](https://mlsanity.com/paper/2506.18016/) (2025)
- [LST-SLAM: A Stereo Thermal SLAM System for Kilometer-Scale Dynamic Environments](https://mlsanity.com/paper/2602.20925/) (2026)
- [NSFlow: End-to-End Differentiable Neuro-Symbolic Optical Flow for Visual Odometry](https://mlsanity.com/paper/2609.06074/) (2026)

## Abstract (arXiv)

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 OV2SLAM, 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: urlhttps://github.com/ov2slam/ov2slam.