OpenVSLAM的ORB词袋包。 OpenVSLAMisamonocular,stereo,andRGBDvisualSLAMsystem.Thenotablefeaturesare: Itiscompatiblewithvarioustypeofcameramodelsandcanbeeasilycustomizedforothercameramodels. Createdmapscanbestoredandloaded,thenOpenVSLAMcanlocalizenewimagesbased