RTAB-Map - 3D LiDAR Scanner
Open Source Visual/LiDAR SLAM
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Description

RTAB-Map (Real-Time Appearance-Based Mapping) is an Open Source LiDAR / RGB-D / Stereo Graph-Based SLAM approach based on an online 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 in real-time. 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.

* Note that unlike other scanning apps that optimize the map after the mapping, with RTAB-Map you get loop closure detection and map optimization online so you can have feedback live to know when you have enough constraints in the map for good global optimization before stopping the scan.

*** 3D reconstruction available only with LiDAR sensor

Features:
* Online 3D scanning/mapping of the environment
* Online loop closure detection and map correction
* Save in DB format (RTAB-Map desktop and rtabmap_ros 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
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User Rating

4.66 out of 5

29 ratings in United States

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Reviews

The perfect 3d scanning tool

PrettySimpleFun on

If you’re looking for a 3d scanner app, stop here! You’ve found it. I would give this 6 stars if I could. RTAB-Map is fabulous. It does the job and gets out of the way. No ads, no accounts, no spyware. You open it and it just works. Simple data formats, easy sharing. What a refreshingly straightforward tool—thank you Mathieu!

Point cloud export?

borysrush on

Exactly what I’ve been looking for…almost. I’m a land surveyor and have been waiting for a self correcting scan app. If able, please provide colorized point cloud export option. This app could prove extremely helpful with that option.

I’ve tried them all, this is the BOSS

Smicha84 on

There is no better 3D scanning app for the real 3D scan enthusiast. I have tried all 20 or so of them, with full feature unlocks. The only downside is that big scans need lots of RAM, so go ahead and get yourself a tablet with at least 16GB of RAM. otherwise, it will be unstable and keep closing on you without saving. I’ve had a lot of great scans get lost. But the scans that didn’t get erased are insane. Loop closure is so crazy.

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App Info

Category
Utilities
Publisher
Mathieu Labbe
Languages
English
Recent version
0.21.2 (9 months ago )
Released on
Jun 8, 2021 (3 years ago )
Last updated
1 month ago