> For the complete documentation index, see [llms.txt](https://docs.movel.ai/new-collection/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.movel.ai/new-collection/jian-ti-zhong-wen/seirios-rns/product-features/mapping/orb-slam-camera-based.md).

# 基于ORB-SLAM 摄像头

ORB-SLAM 是基于关键帧和特征的单目 SLAM。 它在大型环境中实时运行，能够从各种不同的视点闭合回路并操作相机重新定位。

<div align="center"><img src="https://1482224214-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-MkBtlBrwlCbBifOLd-h%2F-Mk_ttpTrn5EXCE4CXhS%2F-MkaAtaIQJtMC3kBjmvB%2Fezgif-1-38642ec51c2c-2.gif?alt=media&amp;token=ad6b6a2e-8743-41a5-871b-783d764eecc1" alt=""></div>

![](https://1482224214-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-MkBtlBrwlCbBifOLd-h%2F-Mk_ttpTrn5EXCE4CXhS%2F-MkaB-0yJBDdsxs3m-63%2Fezgif-1-083ccc0a42d5.gif?alt=media\&token=7fb411d0-35b9-488f-bea9-4fdd001dbcfd)

Seirios 能够支持使用单目、立体和 RGB-D 相机的映射。 绿色“点”是识别并存储在地图数据中的特征，可生成 2D 地图。

![Intel Realsense D435 - a depth camera that can be used for ORBSLAM camera based mapping](https://1482224214-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-MkBtlBrwlCbBifOLd-h%2F-Mk_ttpTrn5EXCE4CXhS%2F-MkaBAbE4OA5mi11yfjk%2FUntitled-2.png?alt=media\&token=5d62daa2-de46-4c07-a676-6355b93de762)

{% hint style="warning" %}
具有类似深度感应功能的相机也可以作为替代
{% endhint %}