RTAB-Map - 3D LiDAR Scanner 4+

Open Source Visual/LiDAR SLAM

Mathieu Labbe

    • Free



RTAB-Map (Real-Time Appearance-Based Mapping) is an Open Source LiDAR / RGB-D / Stereo Graph-Based SLAM 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.

* Note that unlike other scanning apps that optimize the map after the mapping, with RTAB-Map you get loop closure detection and map optimization online so you can have feedback live 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

* 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 or OBJ
* Multi-session mapping (save and continue later)
* Use Apriltags to help find loop closures in textureless environments
* Mixed AR/VR First-Person in visualization mode

What’s New

Version 0.20.19

* Improved recovery feature: temporary database is now public (like other databases), so it can be copied in File Explorer or Finder in case the recovery feature doesn't work for some reason (it can be opened/recovered on another computer with RTAB-Map Desktop if the limited RAM was the issue). Also fixed recovery ignored when re-opening the app after a previous recovery failure (that caused clearing the original scan). In other words, it is now pretty much impossible to lose your scan if the app crashes for any reason (unless you click Ignore in recovery dialog).

* Improved responsiveness significantly on all iOS devices.

* Added recovery feature. If the App exits for some reason (switched to other App during scanning, phone rebooted, phone calls, bug...) and that RTAB-Map has to restart, you will now be asked to recover the previous session if it was not saved.

* Improved localization mode with and without apriltags. Localization mode can be activated when clicking on First-P. View button during visualization (after the scan has been assembled).
* First-P. View mode by default when starting a new scan.
* Sync with latest 0.20.16 RTAB-Map version.

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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