GPS-SLAM: An Augmentation of the ORB-SLAM Algorithm.

This work presents Global Positioning System-Simultaneous Localization and Mapping (GPS-SLAM), an augmented version of Oriented FAST (Features from accelerated segment test) and Rotated BRIEF (Binary Robust Independent Elementary Features) feature detector (ORB)-SLAM using GPS and inertial data to make the algorithm capable of dealing with low frame rate datasets. In general, SLAM systems are successful in case of datasets with a high frame rate. This work was motivated by a scarce dataset where ORB-SLAM often loses track because of the lack of continuity.