# raulmur/ORB_SLAM

A Versatile and Accurate Monocular SLAM

Repository: https://github.com/raulmur/ORB_SLAM
Canonical: https://ross.abutalabs.com/products/orb_slam
Homepage: http://webdiis.unizar.es/~raulmur/orbslam/
Language: C++
License: NOASSERTION
License Family: other
Last push: 2022-09-18T00:48:53+00:00

## Health v2 (maintenance only)
Score: 32/100 (v2, computed 2026-09-03T02:20:16.233290+00:00)
- activity 0, release rhythm 35, longevity 100
- inputs: {"age_days": 4201, "days_push": 1446, "days_rel": null, "gap_med": null, "n_releases_24m": 0}
- flags: no_releases, no_license
- formula: round(0.45*activity + 0.35*rhythm + 0.20*longevity); archived -> min(score, 10)

## Adoption (not part of the score)
Stars 1632, forks 817 (observed 2026-08-28T04:05:14.103064+00:00)

## What it is
ORB-SLAM is a real-time monocular SLAM system written in C++ that computes camera trajectories and sparse 3D reconstructions from a single camera. It supports loop closing and global relocalization and is integrated with ROS for image input and visualization.

## Use cases
- estimate camera trajectory from monocular video in real time
- build a sparse 3D map of an environment from a single camera
- perform loop closure and relocalization in SLAM pipelines
- run visual odometry on KITTI-style datasets
- localize a handheld camera or vehicle-mounted camera indoors and outdoors

## When to choose
- you need a proven, accurate monocular SLAM solution with ROS integration
- you are doing robotics or SLAM research and want a well-cited reference implementation
- you work on Linux with C++ and can build against Boost and ROS

## When to avoid
- you need stereo or RGB-D support (use ORB-SLAM2 or ORB-SLAM3 instead)
- you need a maintained project with recent updates or modern build tooling
- you need a permissively licensed library for closed-source commercial use (GPLv3)
- you target Windows or non-ROS platforms

## Facets
- artifact type: library
- maturity: maintenance
- function: computer-vision, simulation, graphics
- domain: robotics, autonomous-vehicles, computer-vision
- platform: cpp
- tags: slam, monocular-slam, orb-features, real-time, 3d-reconstruction, ros, robotics, computer-vision, c-plus-plus, algorithms, linux

## Member repositories
- raulmur/ORB_SLAM (main) score 32

## Provenance
- Observed fields: from GitHub, fetched 2026-08-28T04:05:14.103064+00:00.
- Health v2: computed from the inputs above; adoption is never an input.
- Inferred fields (summary, facets, guidance): AI-extracted, prompt v1, taxonomy v1, on 2026-08-30T03:47:47.981865+00:00, confidence not recorded.
  - readme: https://github.com/raulmur/ORB_SLAM (fetched 2026-08-28T04:05:14.103064+00:00, sha f0932724c275)
  - homepage: http://webdiis.unizar.es/~raulmur/orbslam/ (fetched 2026-08-29T11:20:20.110667+00:00, sha 592ad0c6834d)
- Data as of 2026-08-30T08:39:29.467469+00:00.