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**Authors:** Carlos Campos, Richard Elvira, Juan J. Gómez Rodríguez, [José M. M. Montiel](http://webdiis.unizar.es/~josemari/), [Juan D. Tardos](http://webdiis.unizar.es/~jdtardos/).
The [Changelog](https://github.com/UZ-SLAMLab/ORB_SLAM3/Changelog.md) describes the features of each version.
The [Changelog](https://github.com/UZ-SLAMLab/ORB_SLAM3/blob/master/Changelog.md) describes the features of each version.
ORB-SLAM3 is the first real-time SLAM library able to perform **Visual, Visual-Inertial and Multi-Map SLAM** with **monocular, stereo and RGB-D** cameras, using **pin-hole and fisheye** lens models. In all sensor configurations, ORB-SLAM3 is as robust as the best systems available in the literature, and significantly more accurate.
