We provide examples to run the SLAM system in the KITTI dataset as stereo or monocular, and in the TUM dataset as RGB-D or monocular. It is able to detect loops and relocalize the camera in real time. ORB-SLAM2 is a real-time SLAM library for Monocular, Stereo and RGB-D cameras that computes the camera trajectory and a sparse 3D reconstruction (in the stereo and RGB-D case with true scale).
