mirror of
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182 lines
16 KiB
Markdown
182 lines
16 KiB
Markdown
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[](http://www.youtube.com/watch?v=AMLwjo80WzI)
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## Overview
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<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">
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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.
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#### Simultaneous Planning, Localization and Mapping (SPLAM)
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* M. Labbé and F. Michaud, “[Long-term online multi-session graph-based SPLAM with memory management](https://introlab.3it.usherbrooke.ca/mediawiki-introlab/images/8/87/LabbeAURO2017.pdf),” in _Autonomous Robots_, accepted, 2017. ([Springer](http://dx.doi.org/10.1007/s10514-017-9682-5))
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#### Multi-session SLAM
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* 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/))
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* Results shown in this paper can be reproduced by the [Multi-session mapping](https://github.com/introlab/rtabmap/wiki/Multi-session) tutorial.
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#### Loop closure detection
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* 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))
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* 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))
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* 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.
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## Install
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<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>
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* [Installation](https://github.com/introlab/rtabmap/wiki/Installation) instructions.
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* [Tutorials](https://github.com/introlab/rtabmap/wiki/Tutorials).
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* [Tools](https://github.com/introlab/rtabmap/wiki/Tools).
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* 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.
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### Troubleshooting
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**Standalone**
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* Visit the [wiki](https://github.com/introlab/rtabmap/wiki).
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* Ask a question on [RTAB-Map Forum](http://official-rtab-map-forum.67519.x6.nabble.com/).
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* Post an [issue on GitHub](https://github.com/introlab/rtabmap/issues)
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* For the loop closure detection approach, visit [RTAB-Map on IntRoLab website](https://introlab.3it.usherbrooke.ca/mediawiki-introlab/index.php/RTAB-Map)
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**ROS**
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* Visit [rtabmap_ros](http://wiki.ros.org/rtabmap_ros) wiki page for nodes documentation, demos and tutorials on ROS.
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* 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.
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## License
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* If OpenCV is built **without the nonfree** module, RTAB-Map can be used under the permissive BSD License.
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* 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.
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* SURF noncommercial notice: http://www.vision.ee.ethz.ch/~surf/download.html
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* SIFT patent: http://www.cs.ubc.ca/~lowe/keypoints/
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## Privacy Policy
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[RTAB-Map Tango](https://play.google.com/store/apps/details?id=com.introlab.rtabmap&hl=en) app on Google Play Store requires access to camera to record images that will be used for creating the map. When saving, a database containing these images is created. That database is saved locally on the device (on the sd-card under RTAB-Map folder). While location permission is required to install RTAB-Map Tango, the GPS coordinates are not saved by default, the option "Settings->Mapping...->Save GPS" should be enabled first. RTAB-Map requires read/write access to RTAB-Map folder only, to save, export and open maps. RTAB-Map doesn't access any other information outside the RTAB-Map folder. RTAB-Map doesn't share information over Internet unless the user explicitly exports a map to Sketchfab, for which RTAB-Map needs the network. If so, the user will be asked for authorization ([oauth2](https://oauth.net/)) by Sketchfab (see their Privacy Policy [here](https://sketchfab.com/privacy)).
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This website uses Google Analytics. See their Privacy Policy [here](https://support.google.com/analytics/answer/6004245?hl=en).
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## Author
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* [Mathieu Labbé](https://introlab.3it.usherbrooke.ca/mediawiki-introlab/index.php?title=Mathieu_Labbé&setlang=en)
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* [RTAB-Map's page at IntRoLab](http://introlab.3it.usherbrooke.ca/mediawiki-introlab/index.php/RTAB-Map)
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* [Papers](https://introlab.3it.usherbrooke.ca/mediawiki-introlab/index.php/RTAB-Map#Publications)
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* Similar projects: [Find-Object](http://introlab.github.io/find-object/)
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* 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 [Stereolabs](https://www.stereolabs.com/) for the [ZED](https://www.stereolabs.com/zed/specs/), thanks Walt (with Tango coupon discount) and Google for [Google Tango Development Kits](https://store.google.com/product/tango_tablet_development_kit) and thanks to all contributors (for donations, reporting bugs, helping me fixing bugs or making pull requests).
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[](https://www.paypal.com/cgi-bin/webscr?cmd=_s-xclick&hosted_button_id=X8TCXXHHDL62Q)
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## What's new
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### September 2017
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* New version 0.14 of RTAB-Map Tango with GPS support. See it on [play store](https://play.google.com/store/apps/details?id=com.introlab.rtabmap&hl=en).
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### July 2017
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* New version 0.13 of RTAB-Map Tango. See it on [play store](https://play.google.com/store/apps/details?id=com.introlab.rtabmap&hl=en).
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* I uploaded a [presentation](https://introlab.3it.usherbrooke.ca/mediawiki-introlab/images/3/31/Labbe2015ULaval.pdf) that I did in 2015 at Université Laval in Québec! A summary of RTAB-Map as a RGBD-SLAM approach:
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<img src="https://raw.githubusercontent.com/wiki/introlab/rtabmap/doc/Labbe2015ULavalOverview.jpg" alt="RTAB-Map overview" width="400">
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### March 2017
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* New tutorial: [Multi-Session Mapping with RTAB-Map Tango](https://github.com/introlab/rtabmap/wiki/Multi-Session-Mapping-with-RTAB-Map-Tango)
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<img src="https://raw.githubusercontent.com/wiki/introlab/rtabmap/doc/Tutorials/MultiSessionTango/mesh.jpg" alt="Mesh" width="400"><img src="https://raw.githubusercontent.com/wiki/introlab/rtabmap/doc/Tutorials/MultiSessionTango/cloudSessionColor.jpg" alt="Cloud" width="200">
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<a href="https://youtu.be/71eRxTc1DaU" target="_blank"><img src="https://raw.githubusercontent.com/wiki/introlab/rtabmap/doc/Tutorials/MultiSessionTango/youtube.jpg"
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alt="video" title="video"/></a>
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### February 2017
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* **Version 0.11.14** : Visit the [release page](https://github.com/introlab/rtabmap/releases/0.11.14) for more info!
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* Tango app also updated:
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<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>
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### October 2016
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* Application example: See how RTAB-Map is helping nuclear dismantling with Areva's MANUELA project (Mobile Apparatus for Nuclear Expertise and Localisation Assistance):
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<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>
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* **Version 0.11.11**: Visit the [release page](https://github.com/introlab/rtabmap/releases/0.11.11) for more info!
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### July 2016
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* **Version 0.11.8**: Visit the [release page](https://github.com/introlab/rtabmap/releases/0.11.8) for more info!
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### June 2016
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* **Version 0.11.7**: Visit the [release page](https://github.com/introlab/rtabmap/releases/0.11.7) for more info!
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### February 2016
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* 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.
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<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>
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* Screenshots:
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<img src="https://raw.githubusercontent.com/wiki/introlab/rtabmap/doc/video_screenshots/rtabmap-tango.png" alt="rtabmap tango 1" width="600">
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<img src="https://raw.githubusercontent.com/wiki/introlab/rtabmap/doc/video_screenshots/rtabmap-tango2.png" alt="rtabmap tango 2" width="600">
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### October 2015
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* **Version 0.10.10**: Visit the [release page](https://github.com/introlab/rtabmap/releases/0.10.10) for more info!
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### September 2015
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* **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):
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<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>
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### August 2015
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* **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):
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<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>
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### October 2014
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* New example to speed up RTAB-Map's odometry, see [this page](https://github.com/introlab/rtabmap/wiki/Change-parameters):
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<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>
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### September 2014
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* 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.
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<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>
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### August 2014
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* 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)):
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<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>
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### July 2014
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* 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.
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<img src="https://raw.githubusercontent.com/wiki/introlab/rtabmap/doc/Tutorials/MultiSession/4.png" alt="AZIMUT3" align="left" width="300">
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Onboard mapping | Remote mapping
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------------ | -------------
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<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> | <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>
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### June 2014
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* 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:
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<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>
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## Videos
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* **RGBD-SLAM**
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<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>
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<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>
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* **Appearance-based loop closure detection**
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<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>
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<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>
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* More loop closure detection videos [here](http://introlab.3it.usherbrooke.ca/mediawiki-introlab/index.php/RTAB-Map).
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