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**RTAB-Map** (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. **RTAB-Map** (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.
#### RGB-D mapping #### RGB-D mapping
* M. Labbé and F. Michaud, “[Online Global Loop Closure Detection for Large-Scale Multi-Session Graph-Based SLAM](https://introlab.3it.usherbrooke.ca/mediawiki-introlab/images/e/eb/Labbe14-IROS.pdf),” in _Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems_, 2014. ([IEEE Xplore](http://ieeexplore.ieee.org/document/6942926/)) * M. Labbé and F. Michaud, “[Online Global Loop Closure Detection for Large-Scale Multi-Session Graph-Based SLAM](https://introlab.3it.usherbrooke.ca/mediawiki-introlab/images/e/eb/Labbe14-IROS.pdf),” in _Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems_, 2014. ([IEEE Xplore](http://ieeexplore.ieee.org/document/6942926/))
* Results shown in this paper can be reproduced by the [Multi-session mapping](https://github.com/introlab/rtabmap/wiki/Multi-session) tutorial. * Results shown in this paper can be reproduced by the [Multi-session mapping](https://github.com/introlab/rtabmap/wiki/Multi-session) tutorial.
#### Loop closure detection #### Loop closure detection
* M. Labbé and F. Michaud, “[Appearance-Based Loop Closure Detection for Online Large-Scale and Long-Term Operation](https://introlab.3it.usherbrooke.ca/mediawiki-introlab/images/b/bc/TRO2013.pdf),” in _IEEE Transactions on Robotics_, vol. 29, no. 3, pp. 734-745, 2013. ([IEEE Xplore](http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6459608)) * M. Labbé and F. Michaud, “[Appearance-Based Loop Closure Detection for Online Large-Scale and Long-Term Operation](https://introlab.3it.usherbrooke.ca/mediawiki-introlab/images/b/bc/TRO2013.pdf),” in _IEEE Transactions on Robotics_, vol. 29, no. 3, pp. 734-745, 2013. ([IEEE Xplore](http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6459608))
* M. Labbé and F. Michaud, “[Memory management for real-time appearance-based loop closure detection](https://introlab.3it.usherbrooke.ca/mediawiki-introlab/images/f/f0/Labbe11memory.pdf),” in _Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems_, 2011, pp. 1271–1276. ([IEEE Xplore](http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6094602)) * M. Labbé and F. Michaud, “[Memory management for real-time appearance-based loop closure detection](https://introlab.3it.usherbrooke.ca/mediawiki-introlab/images/f/f0/Labbe11memory.pdf),” in _Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems_, 2011, pp. 1271–1276. ([IEEE Xplore](http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6094602))
* Visit [RTAB-Map's page on IntRoLab](https://introlab.3it.usherbrooke.ca/mediawiki-introlab/index.php/RTAB-Map) for detailed information on the loop closure detection approach and related datasets. * Visit [RTAB-Map's page on IntRoLab](https://introlab.3it.usherbrooke.ca/mediawiki-introlab/index.php/RTAB-Map) for detailed information on the loop closure detection approach and related datasets.
## Install ## Install
<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> <a href="https://github.com/introlab/rtabmap/wiki/Installation#docker"><img src="https://raw.githubusercontent.com/wiki/introlab/rtabmap/doc/logos/docker.png" alt="Docker" width="50"></a> <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> <a href="https://github.com/introlab/rtabmap/wiki/Installation#docker"><img src="https://raw.githubusercontent.com/wiki/introlab/rtabmap/doc/logos/docker.png" alt="Docker" width="50"></a>
* [Installation](https://github.com/introlab/rtabmap/wiki/Installation) instructions. * [Installation](https://github.com/introlab/rtabmap/wiki/Installation) instructions.
* [Tutorials](https://github.com/introlab/rtabmap/wiki/Tutorials). * [Tutorials](https://github.com/introlab/rtabmap/wiki/Tutorials).
* [Tools](https://github.com/introlab/rtabmap/wiki/Tools). * [Tools](https://github.com/introlab/rtabmap/wiki/Tools).
* For **ROS** users, take a look to [rtabmap](http://wiki.ros.org/rtabmap) page on the ROS wiki for a package overview. See also [SetupOnYourRobot](http://wiki.ros.org/rtabmap_ros/Tutorials/SetupOnYourRobot) to know how to integrate RTAB-Map on your robot. * For **ROS** users, take a look to [rtabmap](http://wiki.ros.org/rtabmap) page on the ROS wiki for a package overview. See also [SetupOnYourRobot](http://wiki.ros.org/rtabmap_ros/Tutorials/SetupOnYourRobot) to know how to integrate RTAB-Map on your robot.
### Troubleshooting ### Troubleshooting
**Standalone** **Standalone**
* Visit the [wiki](https://github.com/introlab/rtabmap/wiki). * Visit the [wiki](https://github.com/introlab/rtabmap/wiki).
* Ask a question on [RTAB-Map Forum](http://official-rtab-map-forum.67519.x6.nabble.com/). * Ask a question on [RTAB-Map Forum](http://official-rtab-map-forum.67519.x6.nabble.com/).
* Post an [issue on GitHub](https://github.com/introlab/rtabmap/issues) * Post an [issue on GitHub](https://github.com/introlab/rtabmap/issues)
* For the loop closure detection approach, visit [RTAB-Map on IntRoLab website](https://introlab.3it.usherbrooke.ca/mediawiki-introlab/index.php/RTAB-Map) * For the loop closure detection approach, visit [RTAB-Map on IntRoLab website](https://introlab.3it.usherbrooke.ca/mediawiki-introlab/index.php/RTAB-Map)
**ROS** **ROS**
* Visit [rtabmap_ros](http://wiki.ros.org/rtabmap_ros) wiki page for nodes documentation, demos and tutorials on ROS. * Visit [rtabmap_ros](http://wiki.ros.org/rtabmap_ros) wiki page for nodes documentation, demos and tutorials on ROS.
* Ask a question on [answers.ros.org](http://answers.ros.org/questions/scope:all/sort:activity-desc/tags:rtabmap_ros/page:1/) with **rtabmap** or **rtabmap_ros** tag. * Ask a question on [answers.ros.org](http://answers.ros.org/questions/scope:all/sort:activity-desc/tags:rtabmap_ros/page:1/) with **rtabmap** or **rtabmap_ros** tag.
## License ## License
* If OpenCV is built **without the nonfree** module, RTAB-Map can be used under the permissive BSD License. * If OpenCV is built **without the nonfree** module, RTAB-Map can be used under the permissive BSD License.
* If OpenCV is built **with the nonfree** module, RTAB-Map is free for research only because it depends on **SURF** and **SIFT** features. **SIFT** and **SURF** are not free for commercial use. * If OpenCV is built **with the nonfree** module, RTAB-Map is free for research only because it depends on **SURF** and **SIFT** features. **SIFT** and **SURF** are not free for commercial use.
* SURF noncommercial notice: http://www.vision.ee.ethz.ch/~surf/download.html * SURF noncommercial notice: http://www.vision.ee.ethz.ch/~surf/download.html
* SIFT patent: http://www.cs.ubc.ca/~lowe/keypoints/ * SIFT patent: http://www.cs.ubc.ca/~lowe/keypoints/
@@ -48,7 +48,7 @@
This website uses Google Analytics. See their Privacy Policy [here](https://support.google.com/analytics/answer/6004245?hl=en). This website uses Google Analytics. See their Privacy Policy [here](https://support.google.com/analytics/answer/6004245?hl=en).
## Author ## Author
* [Mathieu Labbé](https://introlab.3it.usherbrooke.ca/mediawiki-introlab/index.php?title=Mathieu_Labbé&setlang=en) * [Mathieu Labbé](https://introlab.3it.usherbrooke.ca/mediawiki-introlab/index.php?title=Mathieu_Labbé&setlang=en)
* [RTAB-Map's page at IntRoLab](http://introlab.3it.usherbrooke.ca/mediawiki-introlab/index.php/RTAB-Map) * [RTAB-Map's page at IntRoLab](http://introlab.3it.usherbrooke.ca/mediawiki-introlab/index.php/RTAB-Map)
* [Papers](https://introlab.3it.usherbrooke.ca/mediawiki-introlab/index.php/RTAB-Map#Publications) * [Papers](https://introlab.3it.usherbrooke.ca/mediawiki-introlab/index.php/RTAB-Map#Publications)
* Similar projects: [Find-Object](http://introlab.github.io/find-object/) * Similar projects: [Find-Object](http://introlab.github.io/find-object/)
@@ -58,31 +58,36 @@ This website uses Google Analytics. See their Privacy Policy [here](https://supp
## What's new ## What's new
### March 2017
* New tutorial: [Multi-Session Mapping with RTAB-Map Tango](https://github.com/introlab/rtabmap/wiki/Multi-Session-Mapping-with-RTAB-Map-Tango)
<a href="https://www.youtube.com/edit?video_id=71eRxTc1DaU" target="_blank"><img src="https://raw.githubusercontent.com/wiki/introlab/rtabmap/doc/Tutorials/MultiSessionTango/youtube.jpg"
alt="video" title="video"/></a>
### February 2017 ### February 2017
* **Version 0.11.14** : Visit the [release page](https://github.com/introlab/rtabmap/releases/0.11.14) for more info! * **Version 0.11.14** : Visit the [release page](https://github.com/introlab/rtabmap/releases/0.11.14) for more info!
* Tango app also updated: * Tango app also updated:
<a href="https://youtu.be/FvhxdUhsNUk"><img src="https://raw.githubusercontent.com/wiki/introlab/rtabmap/doc/video_screenshots/tango0.11.14.jpg" alt="video" title="video"></a> <a href="https://youtu.be/FvhxdUhsNUk"><img src="https://raw.githubusercontent.com/wiki/introlab/rtabmap/doc/video_screenshots/tango0.11.14.jpg" alt="video" title="video"></a>
### October 2016 ### October 2016
* Application example: See how RTAB-Map is helping nuclear dismantling with Areva's MANUELA project (Mobile Apparatus for Nuclear Expertise and Localisation Assistance): * Application example: See how RTAB-Map is helping nuclear dismantling with Areva's MANUELA project (Mobile Apparatus for Nuclear Expertise and Localisation Assistance):
<a href="https://youtu.be/bHsNVoRkK2w"><img src="https://raw.githubusercontent.com/wiki/introlab/rtabmap/doc/video_screenshots/manuela.jpg" alt="video" title="video"></a> <a href="https://youtu.be/bHsNVoRkK2w"><img src="https://raw.githubusercontent.com/wiki/introlab/rtabmap/doc/video_screenshots/manuela.jpg" alt="video" title="video"></a>
* **Version 0.11.11**: Visit the [release page](https://github.com/introlab/rtabmap/releases/0.11.11) for more info! * **Version 0.11.11**: Visit the [release page](https://github.com/introlab/rtabmap/releases/0.11.11) for more info!
### July 2016 ### July 2016
* **Version 0.11.8**: Visit the [release page](https://github.com/introlab/rtabmap/releases/0.11.8) for more info! * **Version 0.11.8**: Visit the [release page](https://github.com/introlab/rtabmap/releases/0.11.8) for more info!
### June 2016 ### June 2016
* **Version 0.11.7**: Visit the [release page](https://github.com/introlab/rtabmap/releases/0.11.7) for more info! * **Version 0.11.7**: Visit the [release page](https://github.com/introlab/rtabmap/releases/0.11.7) for more info!
### February 2016 ### February 2016
* I'm pleased to announce that RTAB-Map is now on **Project Tango**. The app is [available](https://play.google.com/store/apps/details?id=com.introlab.rtabmap) on Google Play Store. * I'm pleased to announce that RTAB-Map is now on **Project Tango**. The app is [available](https://play.google.com/store/apps/details?id=com.introlab.rtabmap) on Google Play Store.
<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> <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>
@@ -94,41 +99,41 @@ This website uses Google Analytics. See their Privacy Policy [here](https://supp
### October 2015 ### October 2015
* **Version 0.10.10**: Visit the [release page](https://github.com/introlab/rtabmap/releases/0.10.10) for more info! * **Version 0.10.10**: Visit the [release page](https://github.com/introlab/rtabmap/releases/0.10.10) for more info!
### September 2015 ### September 2015
* **Version 0.10.6**: Integration of a robust graph optimization approach called <a href="https://openslam.org/vertigo.html">Vertigo</a> (which uses [g2o](https://openslam.org/g2o.html) or [GTSAM](https://collab.cc.gatech.edu/borg/gtsam)), see [this page](https://github.com/introlab/rtabmap/wiki/Robust-Graph-Optimization): * **Version 0.10.6**: Integration of a robust graph optimization approach called <a href="https://openslam.org/vertigo.html">Vertigo</a> (which uses [g2o](https://openslam.org/g2o.html) or [GTSAM](https://collab.cc.gatech.edu/borg/gtsam)), see [this page](https://github.com/introlab/rtabmap/wiki/Robust-Graph-Optimization):
<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> <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>
### August 2015 ### August 2015
* **Version 0.10.5**: New example to export data to [MeshLab](http://meshlab.sourceforge.net/) in order to add textures on a created mesh with low polygons, see [this page](https://github.com/introlab/rtabmap/wiki/Export-Raster-Layers-to-MeshLab): * **Version 0.10.5**: New example to export data to [MeshLab](http://meshlab.sourceforge.net/) in order to add textures on a created mesh with low polygons, see [this page](https://github.com/introlab/rtabmap/wiki/Export-Raster-Layers-to-MeshLab):
<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> <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>
### October 2014 ### October 2014
* New example to speed up RTAB-Map's odometry, see [this page](https://github.com/introlab/rtabmap/wiki/Change-parameters): * New example to speed up RTAB-Map's odometry, see [this page](https://github.com/introlab/rtabmap/wiki/Change-parameters):
<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> <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>
### September 2014 ### September 2014
* At **IROS 2014** in Chicago, a team using RTAB-Map for SLAM **won** the Kinect navigation contest held during the conference. See their press release for more details: [Winning the IROS2014 Microsoft Kinect Challenge](http://www.meetup.com/SV-ROS-users/pages/Winning_the_IROS2014_Microsoft_Connect_Challenge/). I also added the Wiki page [IROS2014KinectChallenge](https://github.com/introlab/rtabmap/wiki/IROS-2014-Kinect-Challenge) showing in details the RTAB-Map part used in their solution. * At **IROS 2014** in Chicago, a team using RTAB-Map for SLAM **won** the Kinect navigation contest held during the conference. See their press release for more details: [Winning the IROS2014 Microsoft Kinect Challenge](http://www.meetup.com/SV-ROS-users/pages/Winning_the_IROS2014_Microsoft_Connect_Challenge/). I also added the Wiki page [IROS2014KinectChallenge](https://github.com/introlab/rtabmap/wiki/IROS-2014-Kinect-Challenge) showing in details the RTAB-Map part used in their solution.
<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> <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>
### August 2014 ### August 2014
* Here a comparison between reality and what can be shown in RVIZ (you can [reproduce this demo here](http://wiki.ros.org/rtabmap_ros#Robot_mapping_with_Find-Object)): * Here a comparison between reality and what can be shown in RVIZ (you can [reproduce this demo here](http://wiki.ros.org/rtabmap_ros#Robot_mapping_with_Find-Object)):
<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> <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>
### July 2014 ### July 2014
* Added [Setup on your robot](http://wiki.ros.org/rtabmap_ros/Tutorials/SetupOnYourRobot) 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. * Added [Setup on your robot](http://wiki.ros.org/rtabmap_ros/Tutorials/SetupOnYourRobot) 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.
<img src="https://raw.githubusercontent.com/wiki/introlab/rtabmap/doc/Tutorials/MultiSession/4.png" alt="AZIMUT3" align="left" width="300"> <img src="https://raw.githubusercontent.com/wiki/introlab/rtabmap/doc/Tutorials/MultiSession/4.png" alt="AZIMUT3" align="left" width="300">
@@ -138,23 +143,23 @@ This website uses Google Analytics. See their Privacy Policy [here](https://supp
### June 2014 ### June 2014
* I'm glad to announce that my paper submitted to [IROS 2014](http://www.iros2014.org/) was accepted! [This paper](https://introlab.3it.usherbrooke.ca/mediawiki-introlab/images/e/eb/Labbe14-IROS.pdf) explains in details how RGB-D mapping with RTAB-Map is done. Results shown in this paper can be reproduced by the [Multi-session mapping](https://github.com/introlab/rtabmap/wiki/Multi-session) tutorial: * I'm glad to announce that my paper submitted to [IROS 2014](http://www.iros2014.org/) was accepted! [This paper](https://introlab.3it.usherbrooke.ca/mediawiki-introlab/images/e/eb/Labbe14-IROS.pdf) explains in details how RGB-D mapping with RTAB-Map is done. Results shown in this paper can be reproduced by the [Multi-session mapping](https://github.com/introlab/rtabmap/wiki/Multi-session) tutorial:
<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> <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>
## Videos ## Videos
* **RGBD-SLAM** * **RGBD-SLAM**
<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> <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>
<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> <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>
* **Appearance-based loop closure detection** * **Appearance-based loop closure detection**
<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> <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>
<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> <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>
* More loop closure detection videos [here](http://introlab.3it.usherbrooke.ca/mediawiki-introlab/index.php/RTAB-Map). * More loop closure detection videos [here](http://introlab.3it.usherbrooke.ca/mediawiki-introlab/index.php/RTAB-Map).