2016-08-01 17:33:39 -04:00
<!DOCTYPE html PUBLIC "-//W3C//DTD HTML 4.01//EN" "http://www.w3.org/TR/html4/strict.dtd">
2014-11-22 14:05:50 -05:00
< html >
2016-08-01 17:33:39 -04:00
< head >
< meta http-equiv = "Content-Type" content = "text/html; charset=utf-8" >
< meta http-equiv = "Content-Style-Type" content = "text/css" >
< title > RTAB-Map</ title >
< meta name = "Description" content = "RTAB-Map : Real-Time Appearance-Based Mapping" >
< meta name = "Generator" content = "Cocoa HTML Writer" >
< meta name = "CocoaVersion" content = "1265.21" >
< style type = "text/css" >
p . p1 { margin : 0.0 px 0.0 px 0.0 px 0.0 px ; font : 12.0 px Times ; color : #0000ee }
p . p2 { margin : 0.0 px 0.0 px 0.0 px 0.0 px ; font : 12.0 px Times ; color : #0000ee ; min-height : 14.0 px }
span . s1 { text-decoration : underline }
</ style >
</ head >
< body >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < !DOCTYPE html> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < html> </ a ></ span ></ p >
< p class = "p2" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" ></ a ></ span >< br ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" >< span class = "Apple-converted-space" > </ span > < head> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" >< span class = "Apple-converted-space" > </ span > < meta charset='utf-8'> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" >< span class = "Apple-converted-space" > </ span > < meta http-equiv="X-UA-Compatible" content="chrome=1"> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" >< span class = "Apple-converted-space" > </ span > < meta name="description" content="RTAB-Map : Real-Time Appearance-Based Mapping"> </ a ></ span ></ p >
< p class = "p2" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" ></ a ></ span >< br ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" >< span class = "Apple-converted-space" > </ span > < link rel="stylesheet" type="text/css" media="screen" href="stylesheets/stylesheet.css"> </ a ></ span ></ p >
< p class = "p2" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" ></ a ></ span >< br ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" >< span class = "Apple-converted-space" > </ span > < title> RTAB-Map< /title> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" >< span class = "Apple-converted-space" > </ span > < /head> </ a ></ span ></ p >
< p class = "p2" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" ></ a ></ span >< br ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" >< span class = "Apple-converted-space" > </ span > < body> </ a ></ span ></ p >
< p class = "p2" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" ></ a ></ span >< br ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" >< span class = "Apple-converted-space" > </ span > < !-- HEADER --> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" >< span class = "Apple-converted-space" > </ span > < div id="header_wrap" class="outer"> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" >< span class = "Apple-converted-space" > </ span > < header class="inner"> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" >< span class = "Apple-converted-space" > </ span > < a id="forkme_banner" href="https://github.com/introlab/rtabmap"> View on GitHub< /a> </ a ></ span ></ p >
< p class = "p2" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" ></ a ></ span >< br ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" >< span class = "Apple-converted-space" > </ span > < h1 id="project_title"> RTAB-Map< /h1> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" >< span class = "Apple-converted-space" > </ span > < h2 id="project_tagline"> Real-Time Appearance-Based Mapping< /h2> </ a ></ span ></ p >
< p class = "p2" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" ></ a ></ span >< br ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" >< span class = "Apple-converted-space" > </ span > < section id="downloads"> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" >< span class = "Apple-converted-space" > </ span > < a class="zip_download_link" href="https://github.com/introlab/rtabmap/zipball/master"> Download this project as a .zip file< /a> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" >< span class = "Apple-converted-space" > </ span > < a class="tar_download_link" href="https://github.com/introlab/rtabmap/tarball/master"> Download this project as a tar.gz file< /a> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" >< span class = "Apple-converted-space" > </ span > < /section> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" >< span class = "Apple-converted-space" > </ span > < /header> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" >< span class = "Apple-converted-space" > </ span > < /div> </ a ></ span ></ p >
< p class = "p2" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" ></ a ></ span >< br ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" >< span class = "Apple-converted-space" > </ span > < !-- MAIN CONTENT --> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" >< span class = "Apple-converted-space" > </ span > < div id="main_content_wrap" class="outer"> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" >< span class = "Apple-converted-space" > </ span > < section id="main_content" class="inner"> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" >< span class = "Apple-converted-space" > </ span > < p>< a href="http://www.youtube.com/watch?v=AMLwjo80WzI">< img src="https://raw.githubusercontent.com/wiki/introlab/rtabmap/doc/video_screenshots/onlinergbdslam.jpeg" alt="video" title="video">< /a>< /p> </ a ></ span ></ p >
< p class = "p2" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" ></ a ></ span >< br ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < h2> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < a id="overview" class="anchor" href="#overview" aria-hidden="true">< span aria-hidden="true" class="octicon octicon-link">< /span>< /a> Overview< /h2> </ a ></ span ></ p >
< p class = "p2" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" ></ a ></ span >< br ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < p>< img src="https://raw.githubusercontent.com/introlab/rtabmap/master/guilib/src/images/RTAB-Map.png" alt="RTAB-Map logo" title="RTAB-Map" align="left" width="120"> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < strong> RTAB-Map< /strong> (Real-Time Appearance-Based Mapping) is a 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. RTAB-Map can be used alone with a hand-held Kinect or stereo camera for 6DoF RGB-D mapping, or on a robot equipped with a laser rangefinder for 3DoF mapping.</ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < a name="papers">< /a>< /p> </ a ></ span ></ p >
< p class = "p2" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" ></ a ></ span >< br ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < ul> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < li> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < strong> RGB-D mapping< /strong> </ a ></ span ></ p >
< p class = "p2" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" ></ a ></ span >< br ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < ul> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < li> M. Labbé and F. Michaud, “< a href="https://introlab.3it.usherbrooke.ca/mediawiki-introlab/images/e/eb/Labbe14-IROS.pdf"> Online Global Loop Closure Detection for Large-Scale Multi-Session Graph-Based SLAM< /a> ,” in < em> Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems< /em> , 2014. (< a href="http://ieeexplore.ieee.org/xpl/login.jsp?tp=& amp;arnumber=6942926"> IEEE Xplore< /a> )< /li> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < li> Results shown in this paper can be reproduced by the < a href="https://github.com/introlab/rtabmap/wiki/Multi-session"> Multi-session mapping< /a> tutorial.< /li> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < /ul> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < /li> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < li> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < strong> Loop closure detection< /strong> :</ a ></ span ></ p >
< p class = "p2" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" ></ a ></ span >< br ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < ul> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < li> M. Labbé and F. Michaud, “< a href="https://introlab.3it.usherbrooke.ca/mediawiki-introlab/images/b/bc/TRO2013.pdf"> Appearance-Based Loop Closure Detection for Online Large-Scale and Long-Term Operation< /a> ,” in < em> IEEE Transactions on Robotics< /em> , vol. 29, no. 3, pp. 734-745, 2013. (< a href="http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6459608"> IEEE Xplore< /a> )< /li> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < li> M. Labbé and F. Michaud, “< a href="https://introlab.3it.usherbrooke.ca/mediawiki-introlab/images/f/f0/Labbe11memory.pdf"> Memory management for real-time appearance-based loop closure detection< /a> ,” in < em> Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems< /em> , 2011, pp. 1271– < a href="http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6094602"> IEEE Xplore< /a> )< /li> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < li> Visit < a href="https://introlab.3it.usherbrooke.ca/mediawiki-introlab/index.php/RTAB-Map"> RTAB-Map's page on IntRoLab< /a> for detailed information on the loop closure detection approach and related datasets. < /li> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < /ul> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < /li> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < /ul> </ a ></ span ></ p >
< p class = "p2" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" ></ a ></ span >< br ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < h2> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < a id="install" class="anchor" href="#install" aria-hidden="true">< span aria-hidden="true" class="octicon octicon-link">< /span>< /a> Install< /h2> </ a ></ span ></ p >
< p class = "p2" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" ></ a ></ span >< br ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < p>< a href="https://github.com/introlab/rtabmap_ros#rtabmap_ros">< img src="https://raw.githubusercontent.com/wiki/introlab/rtabmap/doc/logos/ros.png" alt="ROS" width="50">< /a> < a href="https://github.com/introlab/rtabmap/wiki/Installation#ubuntu">< img src="https://raw.githubusercontent.com/wiki/introlab/rtabmap/doc/logos/ubuntu.png" alt="Ubuntu" width="50">< /a> < a href="https://github.com/introlab/rtabmap/wiki/Installation#macosx">< img src="https://raw.githubusercontent.com/wiki/introlab/rtabmap/doc/logos/apple.png" alt="Mac OS X" width="50">< /a> < a href="https://github.com/introlab/rtabmap/wiki/Installation#windows">< img src="https://raw.githubusercontent.com/wiki/introlab/rtabmap/doc/logos/windows.png" alt="Windows" width="50">< /a> < a href="https://play.google.com/store/apps/details?id=com.introlab.rtabmap">< img src="https://raw.githubusercontent.com/wiki/introlab/rtabmap/doc/logos/tango.png" alt="Google Tango" width="50">< /a> < a href="https://github.com/introlab/rtabmap/wiki/Installation#raspberrypi">< img src="https://raw.githubusercontent.com/wiki/introlab/rtabmap/doc/logos/raspberrypi.png" alt="Raspberry Pi" width="40">< /a> < /p> </ a ></ span ></ p >
< p class = "p2" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" ></ a ></ span >< br ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < ul> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < li> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < a href="https://github.com/introlab/rtabmap/wiki/Installation"> Installation< /a> instructions. < /li> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < li> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < a href="https://github.com/introlab/rtabmap/wiki/Tutorials"> Tutorials< /a> .< /li> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < li> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < a href="https://github.com/introlab/rtabmap/wiki/Tools"> Tools< /a> .< /li> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < li> For < strong> ROS< /strong> users, take a look to < a href="http://wiki.ros.org/rtabmap"> rtabmap< /a> page on the ROS wiki for a package overview. See also < a href="http://wiki.ros.org/rtabmap_ros/Tutorials/SetupOnYourRobot"> SetupOnYourRobot< /a> to know how to integrate RTAB-Map on your robot.< /li> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < /ul> </ a ></ span ></ p >
< p class = "p2" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" ></ a ></ span >< br ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < h3> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < a id="troubleshooting" class="anchor" href="#troubleshooting" aria-hidden="true">< span aria-hidden="true" class="octicon octicon-link">< /span>< /a> Troubleshooting< /h3> </ a ></ span ></ p >
< p class = "p2" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" ></ a ></ span >< br ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < ul> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < li> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < strong> Standalone< /strong> </ a ></ span ></ p >
< p class = "p2" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" ></ a ></ span >< br ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < ul> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < li> Visit the < a href="https://github.com/introlab/rtabmap/wiki"> wiki< /a> .< /li> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < li> Ask a question on the < a href="http://official-rtab-map-forum.67519.x6.nabble.com/"> RTAB-Map Forum< /a> .< /li> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < li> Post an < a href="https://github.com/introlab/rtabmap/issues"> issue on GitHub< /a> (see old issues on < a href="https://code.google.com/p/rtabmap/issues/list"> Google code< /a> ).< /li> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < li> For the loop closure detection approach, visit < a href="https://introlab.3it.usherbrooke.ca/mediawiki-introlab/index.php/RTAB-Map"> RTAB-Map on IntRoLab website< /a> .< /li> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < /ul> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < /li> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < li> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < strong> ROS< /strong> </ a ></ span ></ p >
< p class = "p2" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" ></ a ></ span >< br ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < ul> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < li> Visit < a href="http://wiki.ros.org/rtabmap_ros"> rtabmap_ros< /a> wiki page for nodes documentation, demos and tutorials on ROS. < /li> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < li> Ask a question on < a href="http://answers.ros.org/questions/scope:all/sort:activity-desc/tags:rtabmap_ros/page:1/"> answers.ros.org< /a> with < strong> rtabmap< /strong> or < strong> rtabmap_ros< /strong> tag.< /li> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < /ul> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < /li> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < /ul> </ a ></ span ></ p >
< p class = "p2" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" ></ a ></ span >< br ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < h2> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < a id="license" class="anchor" href="#license" aria-hidden="true">< span aria-hidden="true" class="octicon octicon-link">< /span>< /a> License< /h2> </ a ></ span ></ p >
< p class = "p2" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" ></ a ></ span >< br ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < ul> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < li> If OpenCV is built < strong> without the nonfree< /strong> module, RTAB-Map can be used under the permissive BSD License. < /li> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < li> If OpenCV is built < strong> with the nonfree< /strong> module, RTAB-Map is free for research only because it depends on < strong> SURF< /strong> and < strong> SIFT< /strong> features. < strong> SIFT< /strong> and < strong> SURF< /strong> are < strong> not free< /strong> for commercial use.</ a ></ span ></ p >
< p class = "p2" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" ></ a ></ span >< br ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < ul> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < li> SURF noncommercial notice: < a href="http://www.vision.ee.ethz.ch/%7Esurf/download.html"> http://www.vision.ee.ethz.ch/~surf/download.html< /a> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < /li> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < li> SIFT patent: < a href="http://www.cs.ubc.ca/%7Elowe/keypoints/"> http://www.cs.ubc.ca/~lowe/keypoints/< /a> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < /li> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < /ul> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < /li> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < /ul> </ a ></ span ></ p >
< p class = "p2" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" ></ a ></ span >< br ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < h2> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < a id="author" class="anchor" href="#author" aria-hidden="true">< span aria-hidden="true" class="octicon octicon-link">< /span>< /a> Author< /h2> </ a ></ span ></ p >
< p class = "p2" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" ></ a ></ span >< br ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < ul> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < li> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < a href="https://introlab.3it.usherbrooke.ca/mediawiki-introlab/index.php?title=Mathieu_Labb%C3%A9& amp;setlang=en"> Mathieu Labbé< /a> </ a ></ span ></ p >
< p class = "p2" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" ></ a ></ span >< br ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < ul> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < li>< a href="http://introlab.3it.usherbrooke.ca/mediawiki-introlab/index.php/RTAB-Map"> RTAB-Map's page at IntRoLab< /a>< /li> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < li>< a href="https://introlab.3it.usherbrooke.ca/mediawiki-introlab/index.php/RTAB-Map#Publications"> Papers< /a>< /li> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < li> Similar projects: < a href="http://find-object.googlecode.com"> Find-Object< /a> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < /li> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < /ul> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < /li> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < /ul> </ a ></ span ></ p >
< p class = "p2" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" ></ a ></ span >< br ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < h2> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < a id="whats-new" class="anchor" href="#whats-new" aria-hidden="true">< span aria-hidden="true" class="octicon octicon-link">< /span>< /a> What's new< /h2> </ a ></ span ></ p >
< p class = "p2" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" ></ a ></ span >< br ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < h3> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < a id="february-2016" class="anchor" href="#february-2016" aria-hidden="true">< span aria-hidden="true" class="octicon octicon-link">< /span>< /a> February 2016< /h3> </ a ></ span ></ p >
< p class = "p2" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" ></ a ></ span >< br ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < ul> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < li> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < p> I'm pleased to announce that RTAB-Map is now on < strong> Project Tango< /strong> . The app is < a href="https://play.google.com/store/apps/details?id=com.introlab.rtabmap"> available< /a> on Google Play Store. < /p> </ a ></ span ></ p >
< p class = "p2" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" ></ a ></ span >< br ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < p>< a href="https://youtu.be/BE8kMkrCeuA">< img src="https://raw.githubusercontent.com/wiki/introlab/rtabmap/doc/video_screenshots/rtabmap-tango.jpeg" alt="video" title="video">< /a>< /p> </ a ></ span ></ p >
< p class = "p2" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" ></ a ></ span >< br ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < ul> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < li> Screenshots:< /li> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < /ul> </ a ></ span ></ p >
< p class = "p2" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" ></ a ></ span >< br ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < p>< img src="https://raw.githubusercontent.com/wiki/introlab/rtabmap/doc/video_screenshots/rtabmap-tango.png" alt="rtabmap tango 1" width="600">< /p> </ a ></ span ></ p >
< p class = "p2" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" ></ a ></ span >< br ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < p>< img src="https://raw.githubusercontent.com/wiki/introlab/rtabmap/doc/video_screenshots/rtabmap-tango2.png" alt="rtabmap tango 2" width="600">< /p> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < /li> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < /ul> </ a ></ span ></ p >
< p class = "p2" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" ></ a ></ span >< br ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < h3> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < a id="october-2015" class="anchor" href="#october-2015" aria-hidden="true">< span aria-hidden="true" class="octicon octicon-link">< /span>< /a> October 2015< /h3> </ a ></ span ></ p >
< p class = "p2" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" ></ a ></ span >< br ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < ul> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < li> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < strong> Version 0.10.10< /strong> : Visit the < a href="https://github.com/introlab/rtabmap/releases"> release page< /a> for more info!< /li> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < /ul> </ a ></ span ></ p >
< p class = "p2" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" ></ a ></ span >< br ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < h3> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < a id="september-2015" class="anchor" href="#september-2015" aria-hidden="true">< span aria-hidden="true" class="octicon octicon-link">< /span>< /a> September 2015< /h3> </ a ></ span ></ p >
< p class = "p2" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" ></ a ></ span >< br ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < ul> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < li> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < p>< strong> Version 0.10.6< /strong> : Integration of a robust graph optimization approach called < a href="https://openslam.org/vertigo.html"> Vertigo< /a> (which uses < a href="https://openslam.org/g2o.html"> g2o< /a> or < a href="https://collab.cc.gatech.edu/borg/gtsam"> GTSAM< /a> ), see < a href="https://github.com/introlab/rtabmap/wiki/Robust-Graph-Optimization"> this page< /a> :< /p> </ a ></ span ></ p >
< p class = "p2" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" ></ a ></ span >< br ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < p>< a href="http://www.youtube.com/watch?v=A8v70DZxLF8">< img src="https://raw.githubusercontent.com/wiki/introlab/rtabmap/doc/video_screenshots/robust_graph_optimization.jpg" alt="video" title="video">< /a>< /p> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < /li> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < /ul> </ a ></ span ></ p >
< p class = "p2" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" ></ a ></ span >< br ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < h3> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < a id="august-2015" class="anchor" href="#august-2015" aria-hidden="true">< span aria-hidden="true" class="octicon octicon-link">< /span>< /a> August 2015< /h3> </ a ></ span ></ p >
< p class = "p2" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" ></ a ></ span >< br ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < ul> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < li> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < p>< strong> Version 0.10.5< /strong> : New example to export data to < a href="http://meshlab.sourceforge.net/"> MeshLab< /a> in order to add textures on a created mesh with low polygons, see < a href="https://github.com/introlab/rtabmap/wiki/Export-Raster-Layers-to-MeshLab"> this page< /a> :< /p> </ a ></ span ></ p >
< p class = "p2" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" ></ a ></ span >< br ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < p>< a href="https://github.com/introlab/rtabmap/wiki/Export-Raster-Layers-to-MeshLab">< img src="https://raw.githubusercontent.com/wiki/introlab/rtabmap/doc/Tutorials/Texture/texture_tutorial.jpeg" alt="Texture tutorial" width="400">< /a>< /p> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < /li> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < /ul> </ a ></ span ></ p >
< p class = "p2" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" ></ a ></ span >< br ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < h3> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < a id="october-2014" class="anchor" href="#october-2014" aria-hidden="true">< span aria-hidden="true" class="octicon octicon-link">< /span>< /a> October 2014< /h3> </ a ></ span ></ p >
< p class = "p2" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" ></ a ></ span >< br ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < ul> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < li> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < p> New example to speed up RTAB-Map's odometry, see < a href="https://github.com/introlab/rtabmap/wiki/Change-parameters"> this page< /a> :< /p> </ a ></ span ></ p >
< p class = "p2" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" ></ a ></ span >< br ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < p>< a href="http://www.youtube.com/watch?v=Bh8WZsU4YC8">< img src="https://raw.githubusercontent.com/wiki/introlab/rtabmap/doc/video_screenshots/speedup.jpeg" alt="video" title="video">< /a>< /p> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < /li> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < /ul> </ a ></ span ></ p >
< p class = "p2" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" ></ a ></ span >< br ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < h3> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < a id="september-2014" class="anchor" href="#september-2014" aria-hidden="true">< span aria-hidden="true" class="octicon octicon-link">< /span>< /a> September 2014< /h3> </ a ></ span ></ p >
< p class = "p2" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" ></ a ></ span >< br ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < ul> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < li> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < p> At < strong> IROS 2014< /strong> in Chicago, a team using RTAB-Map for SLAM < strong> won< /strong> the Kinect navigation contest held during the conference. See their press release for more details: < a href="http://www.meetup.com/SV-ROS-users/pages/Winning_the_IROS2014_Microsoft_Connect_Challenge/"> Winning the IROS2014 Microsoft Kinect Challenge< /a> . I also added the Wiki page < a href="https://github.com/introlab/rtabmap/wiki/IROS2014KinectChallenge"> IROS2014KinectChallenge< /a> showing in details the RTAB-Map part used in their solution.< /p> </ a ></ span ></ p >
< p class = "p2" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" ></ a ></ span >< br ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < p>< a href="http://www.youtube.com/watch?v=_qiLAWp7AqQ">< img src="https://raw.githubusercontent.com/wiki/introlab/rtabmap/doc/video_screenshots/iros2014.jpeg" alt="video" title="video">< /a>< /p> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < /li> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < /ul> </ a ></ span ></ p >
< p class = "p2" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" ></ a ></ span >< br ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < h3> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < a id="august-2014" class="anchor" href="#august-2014" aria-hidden="true">< span aria-hidden="true" class="octicon octicon-link">< /span>< /a> August 2014< /h3> </ a ></ span ></ p >
< p class = "p2" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" ></ a ></ span >< br ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < ul> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < li> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < p> Here a comparison between reality and what can be shown in RVIZ (you can < a href="http://wiki.ros.org/rtabmap_ros#Robot_mapping_with_Find-Object"> reproduce this demo here< /a> ):< /p> </ a ></ span ></ p >
< p class = "p2" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" ></ a ></ span >< br ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < p>< a href="http://www.youtube.com/watch?v=o1GSQanY-Do">< img src="https://raw.githubusercontent.com/wiki/introlab/rtabmap/doc/video_screenshots/findobject.jpeg" alt="video" title="video">< /a>< /p> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < /li> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < /ul> </ a ></ span ></ p >
< p class = "p2" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" ></ a ></ span >< br ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < h3> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < a id="july-2014" class="anchor" href="#july-2014" aria-hidden="true">< span aria-hidden="true" class="octicon octicon-link">< /span>< /a> July 2014< /h3> </ a ></ span ></ p >
< p class = "p2" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" ></ a ></ span >< br ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < ul> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < li> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < p> Added < a href="http://wiki.ros.org/rtabmap_ros/Tutorials/SetupOnYourRobot"> Setup on your robot< /a> wiki page to know how to integrate RTAB-Map on your ROS robot. Multiple sensor configurations are shown but the optimal configuration is to have a 2D laser, a Kinect-like sensor and odometry.< /p> </ a ></ span ></ p >
< p class = "p2" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" ></ a ></ span >< br ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < p>< img src="https://raw.githubusercontent.com/wiki/introlab/rtabmap/doc/Tutorials/MultiSession/4.png" alt="AZIMUT3" align="left" width="300">< /p> </ a ></ span ></ p >
< p class = "p2" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" ></ a ></ span >< br ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < table> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < thead> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < tr> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < th> Onboard mapping< /th> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < th> Remote mapping< /th> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < /tr> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < /thead> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < tbody> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < tr> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < td>< a href="http://wiki.ros.org/rtabmap_ros/Tutorials/SetupOnYourRobot#Bring-up_your_robot">< img src="https://raw.githubusercontent.com/wiki/introlab/rtabmap/doc/rgbd/setupA.png" alt="" width="300">< /a>< /td> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < td>< a href="http://wiki.ros.org/rtabmap_ros/Tutorials/SetupOnYourRobot#Remote_mapping">< img src="https://raw.githubusercontent.com/wiki/introlab/rtabmap/doc/rgbd/remoteMapping.png" alt="" width="300">< /a>< /td> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < /tr> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < /tbody> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < /table> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < /li> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < /ul> </ a ></ span ></ p >
< p class = "p2" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" ></ a ></ span >< br ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < h3> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < a id="june-2014" class="anchor" href="#june-2014" aria-hidden="true">< span aria-hidden="true" class="octicon octicon-link">< /span>< /a> June 2014< /h3> </ a ></ span ></ p >
< p class = "p2" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" ></ a ></ span >< br ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < ul> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < li> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < p> I'm glad to announce that my paper submitted to < a href="http://www.iros2014.org/"> IROS 2014< /a> was accepted! < a href="https://introlab.3it.usherbrooke.ca/mediawiki-introlab/images/e/eb/Labbe14-IROS.pdf"> This paper< /a> explains in details how RGB-D mapping with RTAB-Map is done. Results shown in this paper can be reproduced by the < a href="https://github.com/introlab/rtabmap/wiki/Multi-session"> Multi-session mapping< /a> tutorial:< /p> </ a ></ span ></ p >
< p class = "p2" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" ></ a ></ span >< br ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < p>< a href="https://github.com/introlab/rtabmap/wiki/Multi-session">< img src="https://raw.githubusercontent.com/wiki/introlab/rtabmap/doc/Tutorials/MultiSession/3.png" alt="Multi-session mapping" width="600">< /a>< /p> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < /li> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < /ul> </ a ></ span ></ p >
< p class = "p2" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" ></ a ></ span >< br ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < h2> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < a id="videos" class="anchor" href="#videos" aria-hidden="true">< span aria-hidden="true" class="octicon octicon-link">< /span>< /a> Videos< /h2> </ a ></ span ></ p >
< p class = "p2" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" ></ a ></ span >< br ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < ul> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < li> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < p>< strong> RGBD-SLAM< /strong>< /p> </ a ></ span ></ p >
< p class = "p2" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" ></ a ></ span >< br ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < p>< a href="http://www.youtube.com/watch?v=Nm2ggyAW4rw">< img src="https://raw.githubusercontent.com/wiki/introlab/rtabmap/doc/video_screenshots/desktop.jpeg" alt="video" title="video">< /a>< /p> </ a ></ span ></ p >
< p class = "p2" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" ></ a ></ span >< br ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < p>< a href="http://www.youtube.com/watch?v=joV7VCvGrKM">< img src="https://raw.githubusercontent.com/wiki/introlab/rtabmap/doc/video_screenshots/globalonly.jpeg" alt="video" title="video">< /a>< /p> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < /li> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < li> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < p>< strong> Appearance-based loop closure detection< /strong>< /p> </ a ></ span ></ p >
< p class = "p2" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" ></ a ></ span >< br ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < p>< a href="http://www.youtube.com/watch?v=CAk-QGMlQmI">< img src="https://raw.githubusercontent.com/wiki/introlab/rtabmap/doc/video_screenshots/rtabmap.jpeg" alt="video" title="video">< /a>< /p> </ a ></ span ></ p >
< p class = "p2" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" ></ a ></ span >< br ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < p>< a href="http://www.youtube.com/watch?v=1dImRinTJSE">< img src="https://raw.githubusercontent.com/wiki/introlab/rtabmap/doc/video_screenshots/newcollegeomni.jpeg" alt="video" title="video">< /a>< /p> </ a ></ span ></ p >
< p class = "p2" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" ></ a ></ span >< br ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < ul> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < li> More loop closure detection videos < a href="http://introlab.3it.usherbrooke.ca/mediawiki-introlab/index.php/RTAB-Map"> here< /a> .< /li> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < /ul> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < /li> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < /ul> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" >< span class = "Apple-converted-space" > </ span > < /section> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" >< span class = "Apple-converted-space" > </ span > < /div> </ a ></ span ></ p >
< p class = "p2" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" ></ a ></ span >< br ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" >< span class = "Apple-converted-space" > </ span > < !-- FOOTER< span class = "Apple-converted-space" > </ span > --> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" >< span class = "Apple-converted-space" > </ span > < div id="footer_wrap" class="outer"> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" >< span class = "Apple-converted-space" > </ span > < footer class="inner"> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" >< span class = "Apple-converted-space" > </ span > < p class="copyright"> RTAB-Map maintained by < a href="https://github.com/introlab"> introlab< /a>< /p> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" >< span class = "Apple-converted-space" > </ span > < p> Published with < a href="https://pages.github.com"> GitHub Pages< /a>< /p> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" >< span class = "Apple-converted-space" > </ span > < /footer> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" >< span class = "Apple-converted-space" > </ span > < /div> </ a ></ span ></ p >
< p class = "p2" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" ></ a ></ span >< br ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" >< span class = "Apple-converted-space" > </ span > < script type="text/javascript"> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" >< span class = "Apple-converted-space" > </ span > var gaJsHost = (("https:" == document.location.protocol) ? "https://ssl." : "http://www.");</ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" >< span class = "Apple-converted-space" > </ span > document.write(unescape("%3Cscript src='" + gaJsHost + "google-analytics.com/ga.js' type='text/javascript'%3E%3C/script%3E"));</ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" >< span class = "Apple-converted-space" > </ span > < /script> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" >< span class = "Apple-converted-space" > </ span > < script type="text/javascript"> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" >< span class = "Apple-converted-space" > </ span > try {</ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" >< span class = "Apple-converted-space" > </ span > var pageTracker = _gat._getTracker("UA-56986679-1");</ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" >< span class = "Apple-converted-space" > </ span > pageTracker._trackPageview();</ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" >< span class = "Apple-converted-space" > </ span > } catch(err) {}</ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" >< span class = "Apple-converted-space" > </ span > < /script> </ a ></ span ></ p >
< p class = "p2" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" ></ a ></ span >< br ></ p >
< p class = "p2" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" ></ a ></ span >< br ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" >< span class = "Apple-converted-space" > </ span > < /body> </ a ></ span ></ p >
< p class = "p1" >< span class = "s1" >< a href = "https://github.com/introlab/rtabmap" > < /html> </ a ></ span ></ p >
</ body >
2014-11-22 14:05:50 -05:00
</ html >
