RTAB-Map - 3D LiDAR Scanner 4+

Open Source Visual/LiDAR SLAM

Mathieu Labbe

    • Free

Screenshots

Description

RTAB-Map (Real-Time Appearance-Based Mapping) is an Open Source LiDAR / RGB-D / Stereo Graph-Based SLAM (Simultaneous Localization and Mapping) approach based on an online incremental appearance-based loop closure detector. The loop closure detector uses a bag-of-words approach to determinate how likely a new image comes from a previous location or a new location. When a loop closure hypothesis is accepted, a new constraint is added to the map's graph, then a graph optimizer minimizes the errors in the map in real-time. An optional memory management approach can be used to limit the number of locations used for loop closure detection and graph optimization, so that real-time constraints on large-scale environnements are always respected. ARKit's visual inertial odometry (VIO) is used as the SLAM front-end for RTAB-Map (the SLAM back-end).

* Note that unlike other scanning apps that optimize the map only after mapping, with RTAB-Map you get loop closure detection and map optimization online so you can have a live feedback to know when you have enough constraints in the map for good global optimization before stopping the scan.

*** 3D reconstruction available only with LiDAR sensor.

Features:
* Online 3D scanning/mapping of the environment.
* Online loop closure detection and map correction.
* Save in DB format (RTAB-Map desktop and rtabmap_ros format).
* Export in PLY, LAS or OBJ.
* Multi-session mapping (save and continue later).
* Use Apriltags to help finding loop closures in textureless environments.
* Mixed AR/VR First-Person in visualization mode.
* Raw ARKit data recording (up to 60 Hz!), useful to record long sessions without comprising battery life.

What’s New

Version 0.21.8

0.21.8:
* Moved "Depth Confidence" setting under Mapping settings to avoid confusion of what is actually saved in database (https://github.com/introlab/rtabmap/issues/1355)

0.21.7:
* Added ARKit jumps filtering for better results.
* Fixed some stability issues.
* Ability to export point cloud in LAS format.
* Raw ARKit data recording mode (up to 60 Hz!), useful to record long sessions without comprising battery life.
* Refer to https://github.com/introlab/rtabmap/pull/1340 for details.

App Privacy

The developer, Mathieu Labbe, indicated that the app’s privacy practices may include handling of data as described below. For more information, see the developer’s privacy policy.

Data Not Collected

The developer does not collect any data from this app.

Privacy practices may vary based on, for example, the features you use or your age. Learn More

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