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RTAB-MAP
Appearance-based RGB-D, stereo, and lidar SLAM with loop closure
BSD-3-Clause
ABOUT
Long robot sessions blow up graph SLAM memory and miss loop closures in changing indoor scenes. RTAB-Map uses appearance-based loop detection and memory management so RGB-D, stereo, and lidar robots map for hours without unbounded graphs.
INTEGRATION GUIDE
1. Map an indoor space with an RGB-D camera and export 3D reconstructions
2. Run RTAB-Map ROS nodes for localization against a prior map
3. Fuse lidar and visual loop closures on a mobile robot
4. Visualize and edit maps in the RTAB-Map standalone application
TAGS
c++roboticsslamrgb-dlidarloop-closurerosmapping