ORB_SLAM2 is a visual simultaneous localization and mapping system that tracks camera movement and builds 3D environments from image data. It functions as a real-time visual odometry tool and sparse 3D reconstructor, computing the position and orientation of a camera while generating a point cloud map of a physical space.
The system utilizes a camera relocalization engine to identify a camera's position within a known map after tracking failure or system restarts. It incorporates a spatial tracker to enable the precise insertion and composition of virtual 3D objects into real-world planar regions for augmented reality.
Core capabilities cover spatial mapping and localization, including loop closure detection to correct drift and static map localization. The project also provides tools for camera trajectory visualization and the evaluation of spatial mapping performance using standardized image sequence datasets.
