Validation of ORB-SLAM2’s applicability across scenarios

Abstract

This paper investigates the applicability of the ORB-SLAM2 across diverse scenarios based on 51 sequences from three public datasets: TUM RGB-D, EuRoC, and КПТ1. Experimental results reveal that while ORB-SLAM2 demonstrates strong robustness in dynamic environments, its performance significantly deteriorates when encountering textureless regions, intense camera rotation, or extensive planar areas. In most cases within the same scenario, the stereo configuration achieves higher localization accuracy than the monocular mode. This study provides practical references for scene specific adaptability considerations in SLAM technology applications.