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Active ORB_SLAM2 fork?

asked 2018-05-31 09:02:02 -0600

George Hawkins gravatar image

updated 2018-05-31 10:35:57 -0600

The last real ORB_SLAM2 commit, i.e. code change, to Raul Mur-Artal's ORB_SLAM2 repository was in January 2017.

No project is ever perfect and complete, especially in this fast-moving field, so I assume this means the ORB_SLAM2 repo is essentially gradually going stale. It looks like the development was done for the IEEE paper ORB-SLAM2: An Open-Source SLAM System for Monocular, Stereo, and RGB-D Cameras and I guess, now that paper is out, that the authors have moved onto other things.

ORB_SLAM2 has a huge number of forks (1,722 currently), does anyone know if any of them represent a likely home for the long-lived ongoing development of ORB_SLAM2? I guess a lot of people have an interest in seeing this happen, e.g. the ETH Autonomous Systems Lab that maintains orb_slam_2_ros and the catkinized version of ORB_SLAM2.

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answered 2018-05-31 09:52:26 -0600

rayvburn gravatar image

This one hasn't been updated recently, but it exposes a lot more features from ORB-SLAM2 algorithm on ROS topics comparing to other forks. I'm currently working with it, trying to improve map generation based on PCL projection on ground plane and to publish more information on topics that could be useful for other ROS packages. I'm going to upload it when I finally manage to polish it up.

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Asked: 2018-05-31 09:02:02 -0600

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Last updated: May 31 '18