RTAB-Map

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. A memory management approach is 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.

Model of the featured video on Sketchfab here: https://skfb.ly/6nryX

For questions, ask on the forum or on Github: http://introlab.github.io/rtabmap/#troubleshooting

*** It works only on Project Tango

Features:
* 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 (with textures up to 720p)
* Multi-session mapping (save and continue later)
* Localization-only mode (in a previous session)
* Trajectory mode where point clouds are not saved (similar to Area Learning)
* Post-processing options (e.g., use Bundle Adjustment to align textures)
* Added "Settings->Mapping->Save GPS" option (default disabled) to save GPS coordinates in the database. See issue #226 on project's page for more info.
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What's New

Version 0.16
- Disabled "Mapping->Maximum Motion Speed" by default.
- Updated underlaying library to RTAB-Map 0.16.3.
October 29:
- Fixed camera freezing after 316 meters of origin.
Version 0.14
- Fix: Don't pop-up automatically the Share intent (making Tango stop) after saving a database.
- Localization mode can be enabled when visualizing.
- By default, data are now saved on SD-CARD while scanning. This reduces RAM needed and saving time.
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Additional Information

Updated
March 28, 2018
Size
32M
Installs
1,000+
Current Version
0.16.3
Requires Android
4.4 and up
Content Rating
Everyone
Permissions
Offered By
Mathieu Labbé
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