# Ewenwan/ORB_SLAM2_SSD_Semantic

动态语义SLAM 目标检测+VSLAM+光流/多视角几何动态物体检测+octomap地图+目标数据库

Repository: https://github.com/Ewenwan/ORB_SLAM2_SSD_Semantic
Canonical: https://ross.abutalabs.com/products/orb_slam2_ssd_semantic
Language: C++
License Family: other
Topics: semantic-slam, dynamic-slam, octomap, object-detection
Last push: 2020-08-14T09:00:24+00:00

## Health v2 (maintenance only)
Score: 32/100 (v2, computed 2026-09-02T17:46:02.011165+00:00)
- activity 0, release rhythm 35, longevity 100
- inputs: {"age_days": 2871, "days_push": 2210, "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 1574, forks 435 (observed 2026-08-28T04:05:05.749969+00:00)

## What it is
A C++ research project extending ORB_SLAM2 with dynamic object detection and semantic mapping. It combines SSD-based object detection (MobileNetV2-SSD-Lite), optical flow and multi-view geometry for dynamic point filtering, and OctoMap-based semantic 3D map construction with an object database.

## Use cases
- build a semantic 3D map from RGB-D camera streams
- run SLAM in dynamic environments with moving people or objects
- detect and track objects in 3D during SLAM
- filter dynamic feature points using optical flow and multi-view geometry
- save and reload ORB-SLAM2 and OctoMap maps
- generate colored point cloud maps with object bounding boxes

## When to choose
- you need a research baseline for dynamic semantic SLAM with RGB-D cameras
- you want to combine object detection with visual SLAM and OctoMap mapping
- you are studying how to filter dynamic features in SLAM

## When to avoid
- you need a production-ready or well-maintained SLAM system
- you require a permissively licensed project (no license is provided)
- you need monocular-only or LiDAR-based SLAM support
- you want plug-and-play installation without ROS and CUDA setup

## Facets
- artifact type: library
- maturity: maintenance
- function: computer-vision, image-processing, machine-learning, simulation
- domain: robotics, computer-vision, autonomous-vehicles, artificial-intelligence
- platform: cpp
- tags: slam, semantic-slam, dynamic-slam, orb-slam2, object-detection, ssd, octomap, point-cloud, rgb-d, robotics, 3d-mapping, research-code, linux, ros

## Member repositories
- Ewenwan/ORB_SLAM2_SSD_Semantic (main) score 32

## Provenance
- Observed fields: from GitHub, fetched 2026-08-28T04:05:05.749969+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 2026-08-30T03:57:37.661092+00:00, confidence not recorded.
  - readme: https://github.com/Ewenwan/ORB_SLAM2_SSD_Semantic (fetched 2026-08-28T04:05:05.749969+00:00, sha 944313deb2e9)
- Data as of 2026-08-30T08:39:29.467469+00:00.