# UZ-SLAMLab/ORB_SLAM3

ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAM

Repository: https://github.com/UZ-SLAMLab/ORB_SLAM3
Canonical: https://ross.abutalabs.com/products/orb_slam3
Language: C++
License: GPL-3.0
License Family: copyleft
Topics: slam-algorithms
Last push: 2024-07-24T08:41:52+00:00

## Health v2 (maintenance only)
Score: 23/100 (v2, computed 2026-09-02T17:46:02.011165+00:00)
- activity 0, release rhythm 8, longevity 100
- inputs: {"age_days": 2237, "days_push": 770, "days_rel": null, "gap_med": null, "n_releases_24m": 0}
- flags: none
- formula: round(0.45*activity + 0.35*rhythm + 0.20*longevity); archived -> min(score, 10)

## Adoption (not part of the score)
Stars 8986, forks 3163 (observed 2026-08-28T04:10:26.630611+00:00)

## What it is
ORB-SLAM3 is a real-time SLAM library supporting Visual, Visual-Inertial, and Multi-Map SLAM with monocular, stereo, and RGB-D cameras using pin-hole and fisheye lens models. It is a C++ research library from the University of Zaragoza, widely used as a state-of-the-art baseline in visual SLAM research.

## Use cases
- run visual SLAM on monocular, stereo, or RGB-D camera feeds
- perform visual-inertial SLAM fusing camera and IMU data
- build sparse 3D maps for robot localization and navigation
- evaluate SLAM accuracy on EuRoC and TUM-VI datasets
- support fisheye camera models in SLAM pipelines
- implement multi-map (Atlas) SLAM with map merging

## When to choose
- you need a proven, accurate real-time visual or visual-inertial SLAM system
- you are doing robotics or AR research and want a strong baseline
- you work with standard or fisheye cameras and optional IMU
- you need multi-map robustness for tracking loss and relocalization

## When to avoid
- you need dense or semantic mapping rather than sparse feature-based SLAM
- you want a maintained product with frequent updates and commercial support (GPL-3.0, research code)
- you need a plug-and-play solution without C++ build and OpenCV/Pangolin dependencies
- your project requires a permissive license incompatible with GPL-3.0

## Facets
- artifact type: library
- maturity: maintenance
- function: computer-vision, simulation, machine-learning
- domain: robotics, computer-vision, autonomous-vehicles
- platform: cpp, cross-platform
- tags: slam, visual-slam, visual-inertial, orb-features, robotics, camera-tracking, mapping, linux

## Member repositories
- UZ-SLAMLab/ORB_SLAM3 (main) score 23

## Provenance
- Observed fields: from GitHub, fetched 2026-08-28T04:10:26.630611+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 2026-08-29T17:24:23.407887+00:00, confidence not recorded.
  - readme: https://github.com/UZ-SLAMLab/ORB_SLAM3 (fetched 2026-08-28T04:10:26.630611+00:00, sha 8c446fce459a)
- Data as of 2026-08-30T08:39:29.467469+00:00.