gjcliff/ORB_SLAM3_ROS2
Implementing ORB_SLAM3 in ROS2 humble
This project helps robotics engineers and researchers create detailed 3D maps of environments using real-time camera and IMU data from a D435i RealSense camera. It takes live monocular video and inertial measurements as input, producing a dynamic 3D point cloud and occupancy grid map. This tool is ideal for anyone developing or deploying robots that need to understand and navigate physical spaces autonomously.
Use this if you need to build accurate, real-time 3D maps of an indoor environment with a D435i RealSense camera, or localize existing maps within an ORB_SLAM3 generated map.
Not ideal if you plan to process pre-recorded datasets offline, or require stereo/RGB-D camera inputs, as those modes are not yet fully supported.
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Language
C++
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Last pushed
Mar 22, 2026
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