{"id":"https://openalex.org/W3043971245","doi":"https://doi.org/10.1109/tro.2021.3075644","title":"ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual\u2013Inertial, and Multimap SLAM","display_name":"ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual\u2013Inertial, and Multimap SLAM","publication_year":2021,"publication_date":"2021-05-25","ids":{"openalex":"https://openalex.org/W3043971245","doi":"https://doi.org/10.1109/tro.2021.3075644","mag":"3043971245"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2021.3075644","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tro.2021.3075644","pdf_url":"https://ieeexplore.ieee.org/ielx7/8860/9634176/09440682.pdf","source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"bronze","oa_url":"https://ieeexplore.ieee.org/ielx7/8860/9634176/09440682.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Carlos Campos","orcid":"https://orcid.org/0000-0001-7470-2935"},"institutions":[{"id":"https://openalex.org/I255234318","display_name":"Universidad de Zaragoza","ror":"https://ror.org/012a91z28","country_code":"ES","type":"education","lineage":["https://openalex.org/I255234318"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"Carlos Campos","raw_affiliation_strings":["Instituto de Investigaci\u00f3n en Ingenier\u00eda de Arag\u00f3n (I3A), Universidad de Zaragoza, Zaragoza, Spain"],"affiliations":[{"raw_affiliation_string":"Instituto de Investigaci\u00f3n en Ingenier\u00eda de Arag\u00f3n (I3A), Universidad de Zaragoza, Zaragoza, Spain","institution_ids":["https://openalex.org/I255234318"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Richard Elvira","orcid":"https://orcid.org/0000-0002-0458-6788"},"institutions":[{"id":"https://openalex.org/I255234318","display_name":"Universidad de Zaragoza","ror":"https://ror.org/012a91z28","country_code":"ES","type":"education","lineage":["https://openalex.org/I255234318"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Richard Elvira","raw_affiliation_strings":["Instituto de Investigaci\u00f3n en Ingenier\u00eda de Arag\u00f3n (I3A), Universidad de Zaragoza, Zaragoza, Spain"],"affiliations":[{"raw_affiliation_string":"Instituto de Investigaci\u00f3n en Ingenier\u00eda de Arag\u00f3n (I3A), Universidad de Zaragoza, Zaragoza, Spain","institution_ids":["https://openalex.org/I255234318"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Juan J. Gomez Rodriguez","orcid":"https://orcid.org/0000-0002-1201-8692"},"institutions":[{"id":"https://openalex.org/I255234318","display_name":"Universidad de Zaragoza","ror":"https://ror.org/012a91z28","country_code":"ES","type":"education","lineage":["https://openalex.org/I255234318"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Juan J. Gomez Rodriguez","raw_affiliation_strings":["Instituto de Investigaci\u00f3n en Ingenier\u00eda de Arag\u00f3n (I3A), Universidad de Zaragoza, Zaragoza, Spain"],"affiliations":[{"raw_affiliation_string":"Instituto de Investigaci\u00f3n en Ingenier\u00eda de Arag\u00f3n (I3A), Universidad de Zaragoza, Zaragoza, Spain","institution_ids":["https://openalex.org/I255234318"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Jose M. M. Montiel","orcid":"https://orcid.org/0000-0002-3627-7306"},"institutions":[{"id":"https://openalex.org/I255234318","display_name":"Universidad de Zaragoza","ror":"https://ror.org/012a91z28","country_code":"ES","type":"education","lineage":["https://openalex.org/I255234318"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Jose M. M. Montiel","raw_affiliation_strings":["Instituto de Investigaci\u00f3n en Ingenier\u00eda de Arag\u00f3n (I3A), Universidad de Zaragoza, Zaragoza, Spain"],"affiliations":[{"raw_affiliation_string":"Instituto de Investigaci\u00f3n en Ingenier\u00eda de Arag\u00f3n (I3A), Universidad de Zaragoza, Zaragoza, Spain","institution_ids":["https://openalex.org/I255234318"]}]},{"author_position":"last","author":{"id":null,"display_name":"Juan D. Tardos","orcid":"https://orcid.org/0000-0002-4518-5876"},"institutions":[{"id":"https://openalex.org/I255234318","display_name":"Universidad de Zaragoza","ror":"https://ror.org/012a91z28","country_code":"ES","type":"education","lineage":["https://openalex.org/I255234318"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Juan D. Tardos","raw_affiliation_strings":["Instituto de Investigaci\u00f3n en Ingenier\u00eda de Arag\u00f3n (I3A), Universidad de Zaragoza, Zaragoza, Spain"],"affiliations":[{"raw_affiliation_string":"Instituto de Investigaci\u00f3n en Ingenier\u00eda de Arag\u00f3n (I3A), Universidad de Zaragoza, Zaragoza, Spain","institution_ids":["https://openalex.org/I255234318"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I255234318"],"apc_list":null,"apc_paid":null,"fwci":2535.2724,"has_fulltext":true,"cited_by_count":3636,"citation_normalized_percentile":{"value":1.0,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"37","issue":"6","first_page":"1874","last_page":"1890"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9921000003814697,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9921000003814697,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.0027000000700354576,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.0010999999940395355,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.725600004196167},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.5633999705314636},{"id":"https://openalex.org/keywords/novelty","display_name":"Novelty","score":0.5375000238418579},{"id":"https://openalex.org/keywords/boosting","display_name":"Boosting (machine learning)","score":0.46860000491142273},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.45809999108314514},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.42289999127388},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.37959998846054077},{"id":"https://openalex.org/keywords/parallax","display_name":"Parallax","score":0.3752000033855438}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7360000014305115},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.725600004196167},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7214999794960022},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.707099974155426},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.5633999705314636},{"id":"https://openalex.org/C2778738651","wikidata":"https://www.wikidata.org/wiki/Q16546687","display_name":"Novelty","level":2,"score":0.5375000238418579},{"id":"https://openalex.org/C46686674","wikidata":"https://www.wikidata.org/wiki/Q466303","display_name":"Boosting (machine learning)","level":2,"score":0.46860000491142273},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.45809999108314514},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.42289999127388},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.37959998846054077},{"id":"https://openalex.org/C15759828","wikidata":"https://www.wikidata.org/wiki/Q165074","display_name":"Parallax","level":2,"score":0.3752000033855438},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.3555999994277954},{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.3386000096797943},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.32499998807907104},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.3199999928474426},{"id":"https://openalex.org/C206588197","wikidata":"https://www.wikidata.org/wiki/Q846574","display_name":"Reuse","level":2,"score":0.31779998540878296},{"id":"https://openalex.org/C81669768","wikidata":"https://www.wikidata.org/wiki/Q2359161","display_name":"Precision and recall","level":2,"score":0.30169999599456787},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.26179999113082886},{"id":"https://openalex.org/C35861506","wikidata":"https://www.wikidata.org/wiki/Q17141434","display_name":"Stereo cameras","level":3,"score":0.25119999051094055}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tro.2021.3075644","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tro.2021.3075644","pdf_url":"https://ieeexplore.ieee.org/ielx7/8860/9634176/09440682.pdf","source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:2007.11898","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2007.11898","pdf_url":"https://arxiv.org/pdf/2007.11898","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"doi:10.1109/tro.2021.3075644","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tro.2021.3075644","pdf_url":"https://ieeexplore.ieee.org/ielx7/8860/9634176/09440682.pdf","source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3043971245.pdf","grobid_xml":"https://content.openalex.org/works/W3043971245.grobid-xml"},"referenced_works_count":68,"referenced_works":["https://openalex.org/W49679257","https://openalex.org/W120566300","https://openalex.org/W612478963","https://openalex.org/W1612997784","https://openalex.org/W1661995841","https://openalex.org/W1969726450","https://openalex.org/W1970504153","https://openalex.org/W1981699551","https://openalex.org/W1989484209","https://openalex.org/W1989838848","https://openalex.org/W1991544872","https://openalex.org/W1993267444","https://openalex.org/W2021851106","https://openalex.org/W2037971631","https://openalex.org/W2056358962","https://openalex.org/W2082312667","https://openalex.org/W2091790851","https://openalex.org/W2100893637","https://openalex.org/W2110357983","https://openalex.org/W2113243634","https://openalex.org/W2118223742","https://openalex.org/W2118428504","https://openalex.org/W2124535811","https://openalex.org/W2151103935","https://openalex.org/W2151290401","https://openalex.org/W2152671441","https://openalex.org/W2154280780","https://openalex.org/W2156939321","https://openalex.org/W2162161345","https://openalex.org/W2218842719","https://openalex.org/W2314596443","https://openalex.org/W2396274919","https://openalex.org/W2404458319","https://openalex.org/W2461937780","https://openalex.org/W2474281075","https://openalex.org/W2482726005","https://openalex.org/W2535547924","https://openalex.org/W2538522345","https://openalex.org/W2564632156","https://openalex.org/W2611940445","https://openalex.org/W2736926039","https://openalex.org/W2745859992","https://openalex.org/W2754177129","https://openalex.org/W2797395780","https://openalex.org/W2797929305","https://openalex.org/W2798350590","https://openalex.org/W2801117803","https://openalex.org/W2809451359","https://openalex.org/W2883702102","https://openalex.org/W2884188043","https://openalex.org/W2884962765","https://openalex.org/W2906636743","https://openalex.org/W2937713253","https://openalex.org/W2963562098","https://openalex.org/W2971234095","https://openalex.org/W2997495511","https://openalex.org/W3003455978","https://openalex.org/W3035056458","https://openalex.org/W3043971245","https://openalex.org/W3083706479","https://openalex.org/W3090386798","https://openalex.org/W3091592533","https://openalex.org/W4230766380","https://openalex.org/W4236769309","https://openalex.org/W4246614213","https://openalex.org/W6618872416","https://openalex.org/W6750768824","https://openalex.org/W6758162286"],"related_works":[],"abstract_inverted_index":{"This":[0],"article":[1],"presents":[2],"ORB-SLAM3,":[3],"the":[4,136,142,150,190,195,213,224,234,237,242],"first":[5,28,143],"system":[6,37,84,144],"able":[7,145],"to":[8,68,99,146],"perform":[9],"visual,":[10],"visual-inertial":[11,35],"and":[12,18,23,60,63,197,216],"multimap":[13],"SLAM":[14,36,204],"with":[15,92,120,127],"monocular,":[16],"stereo":[17],"RGB-D":[19],"cameras,":[20],"using":[21],"pin-hole":[22],"fisheye":[24],"lens":[25],"models.":[26],"The":[27,76],"main":[29,78],"novelty":[30,79],"is":[31,80,141,186],"a":[32,81,87,112],"tightly":[33],"integrated":[34],"that":[38,95,115,131],"fully":[39],"relies":[40],"on":[41,86],"maximum":[42],"<italic":[43],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[44],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">a":[45],"posteriori</i>":[46],"(MAP)":[47],"estimation,":[48],"even":[49,161],"during":[50],"IMU":[51],"initialization,":[52],"resulting":[53],"in":[54,58,148,167,181,194,212,223],"real-time":[55],"robust":[56,188],"operation":[57],"small":[59],"large,":[61],"indoor":[62],"outdoor":[64],"environments,":[65],"being":[66],"two":[67],"ten":[69],"times":[70],"more":[71,199],"accurate":[72],"than":[73],"previous":[74,121,154,172],"approaches.":[75],"second":[77],"multiple":[82],"map":[83,114],"relying":[85],"new":[88,113],"place":[89],"recognition":[90],"method":[91],"improved":[93],"recall":[94],"lets":[96],"ORB-SLAM3":[97,140,185],"survive":[98],"long":[100],"periods":[101],"of":[102,209,226,230,236],"poor":[103],"visual":[104,128],"information:":[105],"when":[106,123],"it":[107,110],"gets":[108],"lost,":[109],"starts":[111],"will":[116],"be":[117],"seamlessly":[118],"merged":[119],"maps":[122],"revisiting":[124],"them.":[125],"Compared":[126],"odometry":[129],"systems":[130,192],"only":[132],"use":[133],"information":[134,155],"from":[135,156,171],"last":[137],"few":[138],"seconds,":[139],"reuse":[147],"all":[149,153,182],"algorithm":[151],"stages":[152],"high":[157],"parallax":[158],"co-visible":[159],"keyframes,":[160],"if":[162],"they":[163],"are":[164],"widely":[165],"separated":[166],"time":[168],"or":[169],"come":[170],"mapping":[173],"sessions,":[174],"boosting":[175],"accuracy.":[176],"Our":[177],"experiments":[178],"show":[179],"that,":[180],"sensor":[183],"configurations,":[184],"as":[187,189],"best":[191],"available":[193],"literature":[196],"significantly":[198],"accurate.":[200],"Notably,":[201],"our":[202],"stereo-inertial":[203],"achieves":[205],"an":[206],"average":[207],"accuracy":[208],"3.5":[210],"cm":[211],"EuRoC":[214],"drone":[215],"9":[217],"mm":[218],"under":[219],"quick":[220],"hand-held":[221],"motions":[222],"room":[225],"TUM-VI":[227],"dataset,":[228],"representative":[229],"AR/VR":[231],"scenarios.":[232],"For":[233],"benefit":[235],"community":[238],"we":[239],"make":[240],"public":[241],"source":[243],"code.":[244]},"counts_by_year":[{"year":2026,"cited_by_count":183},{"year":2025,"cited_by_count":1134},{"year":2024,"cited_by_count":1007},{"year":2023,"cited_by_count":771},{"year":2022,"cited_by_count":446},{"year":2021,"cited_by_count":92},{"year":2020,"cited_by_count":3}],"updated_date":"2026-04-03T22:45:19.894376","created_date":"2020-07-29T00:00:00"}