# raulmur/ORB_SLAM2

Real-Time SLAM for Monocular, Stereo and RGB-D Cameras, with Loop Detection and Relocalization Capabilities

Repository: https://github.com/raulmur/ORB_SLAM2
Canonical: https://ross.abutalabs.com/products/orb_slam2
Language: C++
License: NOASSERTION
License Family: other
Last push: 2024-05-15T07:48:28+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": 3875, "days_push": 840, "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 10223, forks 4749 (observed 2026-08-28T04:10:39.945669+00:00)

## What it is
ORB-SLAM2 is a real-time SLAM library for monocular, stereo, and RGB-D cameras that computes camera trajectories and sparse 3D reconstructions with loop detection and relocalization. It is a well-known research codebase from the University of Zaragoza, released under GPLv3 and usable with or without ROS.

## Use cases
- run visual SLAM on a monocular camera feed
- estimate camera trajectory from stereo video
- build a sparse 3D map from an RGB-D camera
- detect loop closures and relocalize a camera in real time
- evaluate SLAM on KITTI, TUM, or EuRoC datasets
- integrate SLAM into a ROS robot

## When to choose
- you need a proven, accurate feature-based visual SLAM system for research or benchmarking
- you work with monocular, stereo, or RGB-D cameras and want loop closure and relocalization
- you want a ROS node or standalone C++ SLAM library

## When to avoid
- you need actively maintained code or modern dependency versions - the project is largely in maintenance mode
- you need dense mapping or visual-inertial SLAM - consider ORB-SLAM3 or alternatives
- your project is not GPLv3-compatible

## Facets
- artifact type: library
- maturity: maintenance
- function: computer-vision, simulation, graphics
- domain: robotics, computer-vision, autonomous-vehicles
- platform: cpp
- tags: slam, orb-features, monocular, stereo, rgb-d, loop-closure, relocalization, camera-tracking, 3d-reconstruction, ros, algorithms, linux

## Member repositories
- raulmur/ORB_SLAM2 (main) score 32

## Provenance
- Observed fields: from GitHub, fetched 2026-08-28T04:10:39.945669+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 2026-08-29T17:19:29.886715+00:00, confidence not recorded.
  - readme: https://github.com/raulmur/ORB_SLAM2 (fetched 2026-08-28T04:10:39.945669+00:00, sha be32529e0ab8)
- Data as of 2026-08-30T08:39:29.467469+00:00.