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<h1 id="project_title">RTAB-Map</h1>
<h2 id="project_tagline">Real-Time Appearance-Based Mapping</h2>
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<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"></a></p>
<h2>
<a id="overview" class="anchor" href="#overview" aria-hidden="true"><span aria-hidden="true" class="octicon octicon-link"></span></a>Overview</h2>
<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">
<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.</p>
<ul>
<li>
<strong>RGB-D mapping</strong>
<ul>
<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/document/6942926/">IEEE Xplore</a>)</li>
<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>
</ul>
</li>
<li>
<strong>Loop closure detection</strong>:
<ul>
<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>
<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. 1271–1276. (<a href="http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6094602">IEEE Xplore</a>)</li>
<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>
</ul>
</li>
</ul>
<h2>
<a id="install" class="anchor" href="#install" aria-hidden="true"><span aria-hidden="true" class="octicon octicon-link"></span></a>Install</h2>
<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>
<ul>
<li>
<a href="https://github.com/introlab/rtabmap/wiki/Installation">Installation</a> instructions. </li>
<li>
<a href="https://github.com/introlab/rtabmap/wiki/Tutorials">Tutorials</a>.</li>
<li>
<a href="https://github.com/introlab/rtabmap/wiki/Tools">Tools</a>.</li>
<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>
</ul>
<h3>
<a id="troubleshooting" class="anchor" href="#troubleshooting" aria-hidden="true"><span aria-hidden="true" class="octicon octicon-link"></span></a>Troubleshooting</h3>
<p><strong>Standalone</strong></p>
<ul>
<li>Visit the <a href="https://github.com/introlab/rtabmap/wiki">wiki</a>.</li>
<li>Ask a question on the <a href="http://official-rtab-map-forum.67519.x6.nabble.com/">RTAB-Map Forum</a>.</li>
<li>Post an <a href="https://github.com/introlab/rtabmap/issues">issue on GitHub</a> </li>
<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>
</ul>
<p><strong>ROS</strong></p>
<ul>
<li>Visit <a href="http://wiki.ros.org/rtabmap_ros">rtabmap_ros</a> wiki page for nodes documentation, demos and tutorials on ROS. </li>
<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>
</ul>
<h2>
<a id="license" class="anchor" href="#license" aria-hidden="true"><span aria-hidden="true" class="octicon octicon-link"></span></a>License</h2>
<ul>
<li>If OpenCV is built <strong>without the nonfree</strong> module, RTAB-Map can be used under the permissive BSD License.</li>
<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 not free for commercial use.
<ul>
<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>
</li>
<li>SIFT patent: <a href="http://www.cs.ubc.ca/%7Elowe/keypoints/">http://www.cs.ubc.ca/~lowe/keypoints/</a>
</li>
</ul>
</li>
</ul>
<h2>
<a id="author" class="anchor" href="#author" aria-hidden="true"><span aria-hidden="true" class="octicon octicon-link"></span></a>Author</h2>
<ul>
<li>
<p><a href="https://introlab.3it.usherbrooke.ca/mediawiki-introlab/index.php?title=Mathieu_Labb%C3%A9&amp;setlang=en">Mathieu Labbé</a></p>
<ul>
<li><a href="http://introlab.3it.usherbrooke.ca/mediawiki-introlab/index.php/RTAB-Map">RTAB-Map's page at IntRoLab</a></li>
<li><a href="https://introlab.3it.usherbrooke.ca/mediawiki-introlab/index.php/RTAB-Map#Publications">Papers</a></li>
<li>Similar projects: <a href="http://introlab.github.io/find-object/">Find-Object</a>
</li>
<li>
<p>If you find this project useful and to help me keeping this project updated, you can buy me a cup of coffee with the link below :P. It is also nice to receive new sensors to test with and even supporting them in RTAB-Map for quick SLAM demonstrations (e.g., stereo cameras, RGB-D cameras, 2D/3D LiDARs). Thanks <a href="https://www.stereolabs.com/">Stereolabs</a> for the <a href="https://www.stereolabs.com/zed/specs/">ZED</a>, thanks Walt (with Tango coupon discount) and Google for <a href="https://store.google.com/product/tango_tablet_development_kit">Google Tango Development Kits</a> and thanks to all contributors (for donations, reporting bugs, helping me fixing bugs or making pull requests).</p>
<p><a href="https://www.paypal.com/cgi-bin/webscr?cmd=_s-xclick&amp;hosted_button_id=X8TCXXHHDL62Q"><img src="https://www.paypalobjects.com/en_US/i/btn/btn_donate_LG.gif" alt="paypal"></a></p>
</li>
</ul>
</li>
</ul>
<h2>
<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>
<h3>
<a id="october-2016" class="anchor" href="#october-2016" aria-hidden="true"><span aria-hidden="true" class="octicon octicon-link"></span></a>October 2016</h3>
<ul>
<li>
<p>Application example: See how RTAB-Map is helping nuclear dismantling with Areva's MANUELA project (Mobile Apparatus for Nuclear Expertise and Localisation Assistance):</p>
<p><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></p>
</li>
<li><p><strong>Version 0.11.11</strong>: Visit the <a href="https://github.com/introlab/rtabmap/releases/0.11.11">release page</a> for more info!</p></li>
</ul>
<h3>
<a id="july-2016" class="anchor" href="#july-2016" aria-hidden="true"><span aria-hidden="true" class="octicon octicon-link"></span></a>July 2016</h3>
<ul>
<li>
<strong>Version 0.11.8</strong>: Visit the <a href="https://github.com/introlab/rtabmap/releases/0.11.8">release page</a> for more info!</li>
</ul>
<h3>
<a id="june-2016" class="anchor" href="#june-2016" aria-hidden="true"><span aria-hidden="true" class="octicon octicon-link"></span></a>June 2016</h3>
<ul>
<li>
<strong>Version 0.11.7</strong>: Visit the <a href="https://github.com/introlab/rtabmap/releases/0.11.7">release page</a> for more info!</li>
</ul>
<h3>
<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>
<ul>
<li>
<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>
<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>
</li>
<li>
<p>Screenshots:</p>
<p><img src="https://raw.githubusercontent.com/wiki/introlab/rtabmap/doc/video_screenshots/rtabmap-tango.png" alt="rtabmap tango 1" width="600"></p>
<p><img src="https://raw.githubusercontent.com/wiki/introlab/rtabmap/doc/video_screenshots/rtabmap-tango2.png" alt="rtabmap tango 2" width="600"></p>
</li>
</ul>
<h3>
<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>
<ul>
<li>
<strong>Version 0.10.10</strong>: Visit the <a href="https://github.com/introlab/rtabmap/releases/0.10.10">release page</a> for more info!</li>
</ul>
<h3>
<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>
<ul>
<li>
<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>
<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>
</li>
</ul>
<h3>
<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>
<ul>
<li>
<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>
<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>
</li>
</ul>
<h3>
<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>
<ul>
<li>
<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>
<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>
</li>
</ul>
<h3>
<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>
<ul>
<li>
<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/IROS-2014-Kinect-Challenge">IROS2014KinectChallenge</a> showing in details the RTAB-Map part used in their solution.</p>
<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>
</li>
</ul>
<h3>
<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>
<ul>
<li>
<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>
<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>
</li>
</ul>
<h3>
<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>
<ul>
<li>
<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>
<p><img src="https://raw.githubusercontent.com/wiki/introlab/rtabmap/doc/Tutorials/MultiSession/4.png" alt="AZIMUT3" align="left" width="300"></p>
<table>
<thead>
<tr>
<th>Onboard mapping</th>
<th>Remote mapping</th>
</tr>
</thead>
<tbody>
<tr>
<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>
<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>
</tr>
</tbody>
</table>
</li>
</ul>
<h3>
<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>
<ul>
<li>
<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>
<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>
</li>
</ul>
<h2>
<a id="videos" class="anchor" href="#videos" aria-hidden="true"><span aria-hidden="true" class="octicon octicon-link"></span></a>Videos</h2>
<ul>
<li>
<p><strong>RGBD-SLAM</strong></p>
<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>
<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>
</li>
<li>
<p><strong>Appearance-based loop closure detection</strong></p>
<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>
<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>
</li>
<li><p>More loop closure detection videos <a href="http://introlab.3it.usherbrooke.ca/mediawiki-introlab/index.php/RTAB-Map">here</a>.</p></li>
</ul>
</section>
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