RTAB-Map - 3D LiDAR Scanner 0.21.2

RTAB-Map (Real-Time Appearance-Based Mapping) is an open-source LiDAR / RGB-D / Stereo Graph-Based SLAM approach that implements an online incremental appearance-based loop closure detector. The loop closure detector utilizes a bag-of-words technique to determine the likelihood of a new image originating from a previous location or a new location. Upon accepting a loop closure hypothesis, a new constraint is integrated into the map's graph, followed by real-time error minimization by a graph optimizer. An optional memory management strategy can restrict the number of locations used for loop closure detection and graph optimization, ensuring real-time constraints are consistently met even in large-scale environments.

An important distinction of RTAB-Map is its capability to perform loop closure detection and map optimization online, providing users with live feedback to gauge the sufficiency of constraints for effective global optimization before completing the scan.

**Please note that 3D reconstruction functionality is exclusively compatible with LiDAR sensors.

Key Features:

• Live 3D scanning and mapping of the environment
• Instantaneous loop closure detection and dynamic map correction
• Data storage in DB format (RTAB-Map desktop and rtabmap_ros format)
• Export options in PLY or OBJ formats
• Support for multi-session mapping, allowing users to save progress and resume mapping later
• Utilization of Apriltags to facilitate loop closure identification in textureless environments
• Enhanced visualization mode with mixed AR/VR First-Person integration