RTAB-Map is an Open Source 3D LiDAR scanning App with Online Loop Closure Detection.

RTAB-Map (Real-Time Appearance-Based Mapping) is an Open Source RGB-D Graph-Based SLAM approach based on an 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. 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.

*** 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 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 0.20.12

* First-Person View: 
- Improved feedback of missing spots with a red overlay; 
- Added camera overlay over the mesh for smoother visualization and to see better misalignments (that would require a loop closure soon); 
- Fixed OpenGL FOV to match exactly the camera FOV.

* Decreased default Max Optimization Error parameter to keep only the best loop closures.

* Improved ArUco/AprilTag constraints for better graph optimization and localization.

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


  • Family Sharing

    Up to six family members will be able to use this app with Family Sharing enabled.

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