Work / Education

Open-Source Software

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ORB-SLAM: A Versatile and Accurate Monocular SLAM System
1.6k★   800+ forks   (in GitHub as of Feb 2026)

ORB-SLAM2: Real-Time SLAM Library for Monocular, Stereo and RGB-D cameras.
10.1k★   4.8k forks   (in GitHub as of Feb 2026)

Publications

Total citations: 21,637    h-index: 10    (according to Google Scholar as of Feb 2026)

See a complete list of my publications in my Google Scholar profile

PhD. Thesis

Raúl Mur-Artal
Real-Time Accurate Visual SLAM with Place Recognition
PhD. Thesis. Universidad de Zaragoza, March 2017.
pdf

Journals

Raúl Mur-Artal and Juan D. Tardós.
ORB-SLAM2: an Open-Source SLAM System for Monocular, Stereo and RGB-D Cameras
IEEE Transactions on Robotics, vol. 33, no. 5, pp. 1255-1262, June 2017.
pdf main video video (AR) code

Raúl Mur-Artal and Juan D. Tardós.
Visual-Inertial Monocular SLAM with Map Reuse
IEEE Robotics and Automation Letters, vol. 2, no. 2, pp. 796-803, January 2017.
Presented at ICRA 17.
pdf video1 video2

Raúl Mur-Artal, J. M. M. Montiel and Juan D. Tardós.
ORB-SLAM: A Versatile and Accurate Monocular SLAM System
IEEE Transactions on Robotics, vol. 31, no. 5, pp. 1147-1163, October 2015.
2015 IEEE Transactions on Robotics Best Paper Award.
pdf video code

Conferences

Raúl Mur-Artal and Juan D. Tardós.
Probabilistic Semi-Dense Mapping from Highly Accurate Feature-Based Monocular SLAM.
Robotics: Science and Systems. Rome, Italy, July 2015.
pdf video

Raúl Mur-Artal and Juan D. Tardós.
Fast Relocalisation and Loop Closing in Keyframe-Based SLAM.
IEEE International Conference on Robotics and Automation (ICRA). Hong Kong, China, June 2014.
pdf