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 maps 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/6nryXFor questions, ask on the forum or on Github: http://introlab.github.io/rtabmap/#troubleshooting*** It works only on Project TangoFeatures:* 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 projects page for more info.