This is stereo orb_slam with ZED Stereo Camera.
You can do dense reconstruction outdoors with the depth data from ZED and the camera pose from orb_slam.
This is what I did: Outdoor-DepthAR with ZED. For indoor-DepthAR, you can choose some rgbd-cameras.
If you are interested in SLAM-AR, you can see my another project Stereo-SLAM-AR.
You can watch the video on my YouTube.
