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Changelog.md

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ORB-SLAM3

Details of changes between the different versions.

V1.0, 22th December 2021

  • OpenCV static matrices changed to Eigen matrices. The average code speed-up is 16% in tracking and 19% in mapping, w.r.t. times reported in the ORB-SLAM3 paper.

  • New calibration file format, see file Calibration_Tutorial. Added options for stereo rectification and image resizing.

  • Added load/save map functionalities.

  • Added examples of live SLAM using Intel Realsense cameras.

  • Fixed several bugs.

V0.4: Beta version, 21st April 2021

  • Changed OpenCV dynamic matrices to static matrices to speed up the code.

  • Capability to measure running time of the system threads.

  • Compatibility with OpenCV 4.0 (Requires at least OpenCV 3.0).

  • Fixed minor bugs.

V0.3: Beta version, 4th Sep 2020

  • RGB-D compatibility: the RGB-D examples have been adapted to the new version.

  • Kitti and TUM dataset compatibility: these examples have been adapted to the new version.

  • ROS compatibility: updated the old references in the code to work with this version.

  • Config file parser: the YAML file contains the session configuration, a wrong parametrization may break the execution without any information to solve it. This version parses the file to read all the fields and give a proper answer if one of the fields have been wrongly deffined or does not exist.

  • Fixed minor bugs.

V0.2: Beta version, 7th Aug 2020

Initial release. It has these capabilities:

  • Multiple-Map capabilities: it is able to handle multiple maps in the same session and merge them when a common area is detected with a seamless fussion.

  • Inertial sensor: the IMU initialization takes 2 seconds to achieve a scale error less than 5% and it is reffined in the next 10 seconds until it is around 1%. Inertial measures are integrated at frame rate to estimate the scale, gravity and velocity in order to improve the visual features detection and make the system robust to temporal occlusions.

  • Fisheye cameras: cameras with wide-angle and fisheye lenses are now fully supported in monocular and stereo.