orb_slam3_details/Changelog.md

ORB-SLAM3

Details of changes between the different versions.

V0.4: Beta version, 21 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, 4 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, 7 Aug 2020

Initial release. It has these capabilities:

• Multiple-Maps 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 sensor, the fisheye sensors are now fully supported in monocular and stereo.