# 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="/files/-MkaAtaIQJtMC3kBjmvB" alt=""></div>

![](/files/-MkaB-0yJBDdsxs3m-63)

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](/files/-MkaBAbE4OA5mi11yfjk)

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


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