About 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...
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)
Previous Versions
Here you can find the changelog of RTAB-Map since it was posted on our website on 2016-09-30 03:33:09.
The latest version is 0.18.0 and it was updated on 2024-04-22 12:53:38. See below the changes in each version.
RTAB-Map version 0.18.0
Updated At: 2018-10-24
Changes: Version 0.18
- Updated default of max optimization error to 3x.
- Updated odom covariance to better optimize orientations.
- Fixed new databases not seen on MTP.
- Added option to save environmental sensors
- Fixed GPS bearing in landscape orientation
NOTE: This is the last official release of RTAB-Map for Google Tango (as Play Store will require at least API 26 on November 1st 2018). Follow docker APK installation instructions on the project's website for future releases.
RTAB-Map version 0.14.3
Updated At: 2017-10-29
Changes: 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.
- Added "Settings-> Mapping-> Maximum Motion Speed" option (default low) to ignore images taken when the camera is moving too fast. This helps avoiding blurry textures.
RTAB-Map version 0.11.10
Updated At: 2016-09-08
Changes: - Updated with RTAB-Map 0.11.10.,- Updated "Post-Processing" options (including a new color correction option).,- App can be pause/resumed without losing current session.,- Added "Drift Correction" option (under Mapping menu).,Known issue:,* Auto-exposure cannot be disabled (Tango Core issue).
Disclaimer
Official Google Play Link
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