RTAB‐Map as an open‐source lidar and visual simultaneous localization and mapping library for large‐scale and long‐term online operation
Distributed as an open‐source library since 2013, real‐time appearance‐based mapping (RTAB‐Map) started as an appearance‐based loop closure detection approach with memory management to deal with large‐scale and long‐term online operation. It then grew to implement simultaneous localization and mappi...
Saved in:
| Published in | Journal of field robotics Vol. 36; no. 2; pp. 416 - 446 |
|---|---|
| Main Authors | , |
| Format | Journal Article |
| Language | English |
| Published |
Hoboken
Wiley Subscription Services, Inc
01.03.2019
|
| Subjects | |
| Online Access | Get full text |
Cover
Loading…
| Abstract | Distributed as an open‐source library since 2013, real‐time appearance‐based mapping (RTAB‐Map) started as an appearance‐based loop closure detection approach with memory management to deal with large‐scale and long‐term online operation. It then grew to implement simultaneous localization and mapping (SLAM) on various robots and mobile platforms. As each application brings its own set of constraints on sensors, processing capabilities, and locomotion, it raises the question of which SLAM approach is the most appropriate to use in terms of cost, accuracy, computation power, and ease of integration. Since most of SLAM approaches are either visual‐ or lidar‐based, comparison is difficult. Therefore, we decided to extend RTAB‐Map to support both visual and lidar SLAM, providing in one package a tool allowing users to implement and compare a variety of 3D and 2D solutions for a wide range of applications with different robots and sensors. This paper presents this extended version of RTAB‐Map and its use in comparing, both quantitatively and qualitatively, a large selection of popular real‐world datasets (e.g., KITTI, EuRoC, TUM RGB‐D, MIT Stata Center on PR2 robot), outlining strengths, and limitations of visual and lidar SLAM configurations from a practical perspective for autonomous navigation applications. |
|---|---|
| AbstractList | Distributed as an open‐source library since 2013, real‐time appearance‐based mapping (RTAB‐Map) started as an appearance‐based loop closure detection approach with memory management to deal with large‐scale and long‐term online operation. It then grew to implement simultaneous localization and mapping (SLAM) on various robots and mobile platforms. As each application brings its own set of constraints on sensors, processing capabilities, and locomotion, it raises the question of which SLAM approach is the most appropriate to use in terms of cost, accuracy, computation power, and ease of integration. Since most of SLAM approaches are either visual‐ or lidar‐based, comparison is difficult. Therefore, we decided to extend RTAB‐Map to support both visual and lidar SLAM, providing in one package a tool allowing users to implement and compare a variety of 3D and 2D solutions for a wide range of applications with different robots and sensors. This paper presents this extended version of RTAB‐Map and its use in comparing, both quantitatively and qualitatively, a large selection of popular real‐world datasets (e.g., KITTI, EuRoC, TUM RGB‐D, MIT Stata Center on PR2 robot), outlining strengths, and limitations of visual and lidar SLAM configurations from a practical perspective for autonomous navigation applications. |
| Author | Labbé, Mathieu Michaud, François |
| Author_xml | – sequence: 1 givenname: Mathieu orcidid: 0000-0003-0778-5595 surname: Labbé fullname: Labbé, Mathieu email: Mathieu.M.Labbe@USherbrooke.ca organization: Interdisciplinary Institute of Technological Innovation (3IT), Université de Sherbrooke – sequence: 2 givenname: François orcidid: 0000-0002-3639-7770 surname: Michaud fullname: Michaud, François organization: Interdisciplinary Institute of Technological Innovation (3IT), Université de Sherbrooke |
| BookMark | eNp9kMtKAzEYhYMoeF34BgFXLlqTSTOZWdriDSpC0fWQSf-USJqMyYxSVz5Cn9EnMZ2KC0FXCYfvnJ9zDtGu8w4QOqVkSAnJLoKvhxktGN1BB5TzfDAqc7H78-flPjqM8ZmQEStKfoDWs8fL8efH-l42WEYsHfYNuCRE3wUF2Jq5DEme41cTO2lxNMvOttKB7yK2Xklr3mVrvOuhpWwa4xbJVgcZVlj7gK0MC9gkJhZ6ynq3SEILYYm9s8bB5mroY47RnpY2wsn3e4Serq8eJ7eD6cPN3eRyOlAsZ3RQSso4UUyxOmNa8fmIiqwQQkCRQc0FSF1rIJrlZc2hKJKkICMiK0vNATQ7Qmfb3Cb4lw5iWz2nxi6drDIqxIgxkrNEnW8pFXyMAXTVBLNMzSpKqs3gVRq86gdP7MUvVpm279QGaex_jjdjYfV3dDV7GG8dX3mlmn8 |
| CitedBy_id | crossref_primary_10_3390_app11093921 crossref_primary_10_31686_ijier_vol8_iss12_2837 crossref_primary_10_3103_S0147688224700357 crossref_primary_10_1109_LRA_2020_3011394 crossref_primary_10_37221_eaef_15_4_87 crossref_primary_10_1109_JSEN_2021_3099511 crossref_primary_10_1109_LRA_2021_3093551 crossref_primary_10_2478_ijanmc_2024_0002 crossref_primary_10_1007_s00170_022_08883_0 crossref_primary_10_1109_TITS_2023_3284228 crossref_primary_10_1016_j_compag_2023_108446 crossref_primary_10_1109_TRO_2024_3443699 crossref_primary_10_1016_j_robot_2023_104495 crossref_primary_10_1109_ACCESS_2020_3031867 crossref_primary_10_3390_drones8080390 crossref_primary_10_1061__ASCE_CP_1943_5487_0001047 crossref_primary_10_3390_s20174984 crossref_primary_10_1016_j_engappai_2023_105844 crossref_primary_10_3389_frobt_2024_1347985 crossref_primary_10_1109_TAI_2024_3491950 crossref_primary_10_1016_j_autcon_2023_105139 crossref_primary_10_1007_s10846_019_01136_5 crossref_primary_10_1016_j_jksus_2022_102298 crossref_primary_10_1109_ACCESS_2023_3280220 crossref_primary_10_1177_09596518221080623 crossref_primary_10_3389_frobt_2023_1249586 crossref_primary_10_1007_s10846_021_01445_8 crossref_primary_10_1088_1755_1315_942_1_012035 crossref_primary_10_3390_s22186903 crossref_primary_10_3390_s22145117 crossref_primary_10_1016_j_displa_2024_102806 crossref_primary_10_1002_rob_22353 crossref_primary_10_1109_TMRB_2022_3162148 crossref_primary_10_1109_TIM_2020_3001816 crossref_primary_10_1177_02783649231218720 crossref_primary_10_1109_ACCESS_2023_3247627 crossref_primary_10_3389_frobt_2023_1127496 crossref_primary_10_1007_s10846_023_01961_9 crossref_primary_10_1016_j_dibe_2023_100169 crossref_primary_10_3390_app11041467 crossref_primary_10_1016_j_buildenv_2023_110137 crossref_primary_10_1016_j_mechatronics_2024_103184 crossref_primary_10_1016_j_ultrasmedbio_2020_03_006 crossref_primary_10_1109_LRA_2023_3334103 crossref_primary_10_3390_app14198606 crossref_primary_10_1109_ACCESS_2022_3226784 crossref_primary_10_3390_s23094364 crossref_primary_10_1080_01691864_2021_1997641 crossref_primary_10_1109_ACCESS_2025_3549385 crossref_primary_10_1109_TIE_2023_3327342 crossref_primary_10_1007_s10846_023_01855_w crossref_primary_10_1109_LRA_2022_3194691 crossref_primary_10_3390_s24082487 crossref_primary_10_1139_dsa_2023_0001 crossref_primary_10_55708_js0302004 crossref_primary_10_1016_j_procs_2023_11_077 crossref_primary_10_3390_sym15040809 crossref_primary_10_1002_rob_22228 crossref_primary_10_1007_s11042_022_12063_3 crossref_primary_10_1177_17298814211050560 crossref_primary_10_1109_TVT_2021_3127554 crossref_primary_10_1109_ACCESS_2024_3444478 crossref_primary_10_1177_02783649231187670 crossref_primary_10_1007_s00170_023_11284_6 crossref_primary_10_1109_TRO_2023_3248510 crossref_primary_10_3390_pr12091833 crossref_primary_10_1109_ACCESS_2020_2991465 crossref_primary_10_1016_j_neucom_2024_127760 crossref_primary_10_1109_TASE_2022_3165084 crossref_primary_10_1016_j_compag_2023_108558 crossref_primary_10_1109_ACCESS_2022_3200342 crossref_primary_10_1109_MRA_2020_3045069 crossref_primary_10_1088_1755_1315_1083_1_012043 crossref_primary_10_1109_ACCESS_2020_2970238 crossref_primary_10_1088_1742_6596_2330_1_012016 crossref_primary_10_3390_s25061808 crossref_primary_10_1016_j_autcon_2023_104893 crossref_primary_10_1109_LRA_2021_3058069 crossref_primary_10_1016_j_compind_2021_103502 crossref_primary_10_1016_j_jmsy_2021_06_008 crossref_primary_10_1007_s12555_019_0797_7 crossref_primary_10_1109_LRA_2020_2967681 crossref_primary_10_3390_drones7020073 crossref_primary_10_20965_jrm_2024_p0426 crossref_primary_10_3390_s23083933 crossref_primary_10_3390_s23156676 crossref_primary_10_3390_rs16020234 crossref_primary_10_1145_3569497 crossref_primary_10_1109_TASE_2023_3283497 crossref_primary_10_1007_s12553_021_00636_5 crossref_primary_10_1109_JISPIN_2024_3429110 crossref_primary_10_1109_ACCESS_2022_3203438 crossref_primary_10_3390_s22239325 crossref_primary_10_3390_drones8100577 crossref_primary_10_1109_ACCESS_2020_3047711 crossref_primary_10_3390_s23218837 crossref_primary_10_3390_s19224946 crossref_primary_10_3390_rs14143324 crossref_primary_10_1109_TIM_2021_3071222 crossref_primary_10_1016_j_dib_2021_107496 crossref_primary_10_1109_ACCESS_2022_3214516 crossref_primary_10_1061__ASCE_CP_1943_5487_0000946 crossref_primary_10_3390_s25041181 crossref_primary_10_1108_IJIUS_07_2024_0202 crossref_primary_10_1017_S0263574720001526 crossref_primary_10_1109_LCSYS_2023_3285514 crossref_primary_10_1016_j_isprsjprs_2020_02_006 crossref_primary_10_1016_j_compag_2023_108531 crossref_primary_10_1109_ACCESS_2020_3034524 crossref_primary_10_1088_1757_899X_695_1_012006 crossref_primary_10_1002_rob_22431 crossref_primary_10_1109_TIE_2023_3323731 crossref_primary_10_3390_drones9030203 crossref_primary_10_1109_JSEN_2022_3150973 crossref_primary_10_1177_02783649231215372 crossref_primary_10_3390_app13053359 crossref_primary_10_1007_s11263_022_01612_w crossref_primary_10_1109_JIOT_2020_3043716 crossref_primary_10_1109_LRA_2020_2996795 crossref_primary_10_3390_robotics13060083 crossref_primary_10_1142_S230138502150014X crossref_primary_10_1109_LRA_2025_3541454 crossref_primary_10_3390_app132413316 crossref_primary_10_2478_aei_2023_0003 crossref_primary_10_1007_s10846_021_01321_5 crossref_primary_10_1109_TRO_2023_3290448 crossref_primary_10_1007_s00138_025_01673_0 crossref_primary_10_1007_s10846_024_02087_2 crossref_primary_10_2478_scjme_2024_0011 crossref_primary_10_2514_1_I010956 crossref_primary_10_1515_pjbr_2021_0016 crossref_primary_10_1002_rob_22423 crossref_primary_10_1007_s40313_024_01135_4 crossref_primary_10_3390_su16073064 crossref_primary_10_1007_s00500_023_09219_0 crossref_primary_10_1177_02783649231210011 crossref_primary_10_1109_LRA_2023_3264779 crossref_primary_10_1016_j_autcon_2024_105930 crossref_primary_10_1109_ACCESS_2023_3335818 crossref_primary_10_1007_s11042_023_16178_z crossref_primary_10_3390_f14091856 crossref_primary_10_3390_app12031228 crossref_primary_10_3390_electronics10080970 crossref_primary_10_1016_j_aei_2022_101709 crossref_primary_10_1061_JCCEE5_CPENG_5715 crossref_primary_10_3390_app12115291 crossref_primary_10_1016_j_autcon_2019_103068 crossref_primary_10_1109_ACCESS_2024_3402090 crossref_primary_10_1109_ACCESS_2022_3141594 crossref_primary_10_3389_frobt_2022_801886 crossref_primary_10_3390_app13158790 crossref_primary_10_3390_s23239468 crossref_primary_10_3390_s22155576 crossref_primary_10_1109_TVCG_2022_3150495 crossref_primary_10_1007_s10846_021_01414_1 crossref_primary_10_1007_s10846_021_01535_7 crossref_primary_10_1017_wtc_2022_23 crossref_primary_10_3390_robotics12020039 crossref_primary_10_1109_TITS_2024_3379993 crossref_primary_10_1109_TCSVT_2023_3239683 crossref_primary_10_1007_s00170_022_09637_8 crossref_primary_10_1016_j_robot_2022_104361 crossref_primary_10_3389_fcomp_2024_1388174 crossref_primary_10_1007_s42496_024_00238_0 crossref_primary_10_1007_s40789_025_00745_w crossref_primary_10_3390_s22031191 crossref_primary_10_1109_TAES_2022_3142663 crossref_primary_10_1155_2022_3378163 crossref_primary_10_3390_app14125032 crossref_primary_10_1007_s41315_024_00356_9 crossref_primary_10_1109_JSYST_2022_3196624 crossref_primary_10_1109_LRA_2022_3151404 crossref_primary_10_3390_machines10070500 crossref_primary_10_1145_3695881 crossref_primary_10_1109_ACCESS_2023_3270709 crossref_primary_10_31857_S0005231023120127 crossref_primary_10_1109_ACCESS_2024_3429230 crossref_primary_10_1109_LRA_2022_3224667 crossref_primary_10_1109_JSEN_2023_3277487 crossref_primary_10_1016_j_robot_2023_104514 crossref_primary_10_1017_S0263574721001521 crossref_primary_10_1109_ACCESS_2023_3275739 crossref_primary_10_1016_j_ifacol_2024_07_410 crossref_primary_10_1007_s12652_023_04681_y crossref_primary_10_1016_j_atech_2025_100910 crossref_primary_10_1109_TITS_2023_3234595 crossref_primary_10_3390_s24113418 crossref_primary_10_1109_TNET_2023_3330763 crossref_primary_10_3390_s21010141 crossref_primary_10_1016_j_autcon_2023_104901 crossref_primary_10_1109_TRO_2025_3539171 crossref_primary_10_1007_s10846_023_01835_0 crossref_primary_10_1109_LRA_2022_3144796 crossref_primary_10_1109_TIV_2022_3223728 crossref_primary_10_3390_robotics12040104 crossref_primary_10_3390_agriculture14060949 crossref_primary_10_1007_s10462_024_10713_6 crossref_primary_10_1109_LRA_2024_3354613 crossref_primary_10_1016_j_cag_2022_06_013 crossref_primary_10_1017_S026357472300053X crossref_primary_10_1109_TASE_2022_3193411 crossref_primary_10_3390_s22207794 crossref_primary_10_1017_S1473550420000385 crossref_primary_10_3390_app122211657 crossref_primary_10_1016_j_compeleceng_2024_109607 crossref_primary_10_1109_ACCESS_2022_3218774 crossref_primary_10_31818_JKNST_2024_6_7_2_93 crossref_primary_10_1109_MRA_2022_3210587 crossref_primary_10_1038_s41598_023_43425_y crossref_primary_10_3389_frobt_2022_915884 crossref_primary_10_1017_S0263574724002145 crossref_primary_10_1142_S0218001422550138 crossref_primary_10_1109_LRA_2024_3495213 crossref_primary_10_1109_JRFID_2024_3369470 crossref_primary_10_3390_machines12030200 crossref_primary_10_1016_j_robot_2022_104349 crossref_primary_10_3390_technologies10020041 crossref_primary_10_36930_40320512 crossref_primary_10_1016_j_robot_2022_104102 crossref_primary_10_1109_LRA_2020_3026964 crossref_primary_10_1016_j_birob_2024_100197 crossref_primary_10_1016_j_softx_2021_100956 crossref_primary_10_3390_drones8060220 crossref_primary_10_7746_jkros_2021_16_3_245 crossref_primary_10_3390_s21186223 crossref_primary_10_1016_j_procs_2022_09_267 crossref_primary_10_1080_01691864_2022_2114296 crossref_primary_10_1109_TIM_2023_3317479 crossref_primary_10_3390_s21206711 crossref_primary_10_1109_LRA_2022_3232033 crossref_primary_10_1088_1742_6596_2560_1_012017 crossref_primary_10_1002_rob_22170 crossref_primary_10_3390_s21103313 crossref_primary_10_1016_j_neunet_2021_05_010 crossref_primary_10_1002_rob_22294 crossref_primary_10_2478_jee_2024_0037 crossref_primary_10_1109_ACCESS_2019_2962236 crossref_primary_10_1371_journal_pone_0285509 crossref_primary_10_1002_rob_22048 crossref_primary_10_1080_01691864_2022_2095224 crossref_primary_10_1109_ACCESS_2023_3243633 crossref_primary_10_1007_s10846_020_01281_2 crossref_primary_10_1007_s10846_023_01975_3 crossref_primary_10_3390_s21051860 crossref_primary_10_3390_s25010061 crossref_primary_10_1109_LRA_2022_3227865 crossref_primary_10_1007_s10846_021_01462_7 crossref_primary_10_1109_LRA_2024_3487496 crossref_primary_10_1109_LRA_2024_3518111 crossref_primary_10_1016_j_rser_2020_109979 crossref_primary_10_1109_JSEN_2021_3073676 crossref_primary_10_3390_electronics9122091 crossref_primary_10_1109_JIOT_2022_3146461 crossref_primary_10_1109_LRA_2020_3045647 crossref_primary_10_1088_1361_6501_acfb2d crossref_primary_10_1109_ACCESS_2024_3519874 crossref_primary_10_1016_j_inffus_2024_102532 crossref_primary_10_1109_TRO_2021_3078333 crossref_primary_10_1155_2021_3279059 crossref_primary_10_1109_LRA_2023_3346800 crossref_primary_10_1177_1729881419851665 crossref_primary_10_1186_s40648_023_00241_3 crossref_primary_10_1109_JSEN_2021_3053260 crossref_primary_10_3390_app14146079 crossref_primary_10_1016_j_actaastro_2022_01_025 crossref_primary_10_1016_j_autcon_2023_105004 crossref_primary_10_1007_s11571_024_10122_z crossref_primary_10_1109_LRA_2024_3427559 crossref_primary_10_1088_1361_6501_ad44c0 crossref_primary_10_1115_1_4054088 crossref_primary_10_1109_TRO_2024_3420799 crossref_primary_10_1007_s11370_023_00478_2 crossref_primary_10_1109_ACCESS_2020_2983121 crossref_primary_10_1002_cav_2088 crossref_primary_10_3390_rs14236033 crossref_primary_10_1016_j_buildenv_2020_107226 crossref_primary_10_1109_JSEN_2022_3225158 crossref_primary_10_3130_aija_89_1845 crossref_primary_10_1002_rob_21976 crossref_primary_10_1016_j_atech_2023_100344 crossref_primary_10_1145_3379342 crossref_primary_10_1109_ACCESS_2020_2983488 crossref_primary_10_1109_LRA_2021_3130648 crossref_primary_10_1109_ACCESS_2024_3485901 crossref_primary_10_1038_s41598_022_22938_y crossref_primary_10_1002_eng2_12396 crossref_primary_10_1088_1742_6596_2402_1_012031 crossref_primary_10_3390_app11114968 crossref_primary_10_1177_1729881420919185 crossref_primary_10_3390_drones7050329 crossref_primary_10_1109_LRA_2023_3333742 crossref_primary_10_1016_j_robot_2022_104304 crossref_primary_10_3390_drones6020034 |
| Cites_doi | 10.1016/j.cviu.2007.09.014 10.1023/B:VISI.0000029664.99615.94 10.1109/TRO.2017.2705103 10.1016/j.robot.2017.03.019 10.1109/IVS.2011.5940405 10.1007/978-3-319-10605-2_54 10.1109/TRO.2012.2197158 10.1007/978-3-319-32552-1_46 10.1111/cgf.13386 10.1109/ICRA.2018.8462974 10.1109/TRO.2013.2279412 10.1109/TePRA.2013.6556373 10.1109/TRO.2013.2242375 10.7551/mitpress/9481.003.0011 10.1016/j.robot.2015.09.026 10.1007/978-3-319-29339-4_5 10.1109/LRA.2018.2793349 10.1007/978-1-4471-1580-9_19 10.1109/SSRR.2011.6106777 10.1109/ICRA.2011.5980567 10.1177/0278364908091366 10.1109/ROBOT.2010.5509725 10.1007/s10514-012-9321-0 10.1109/IROS.2013.6696650 10.1109/ICRA.2014.6907233 10.1002/rob.21762 10.1109/ICRA.2014.6906584 10.1109/IROS.2012.6385773 10.1007/s10462-012-9365-8 10.1109/ICRA.2011.5979949 10.1109/IROS.2015.7353631 10.1007/s10514-013-9327-2 10.1109/ICORR.2017.8009393 10.1109/MRA.2011.943233 10.1109/3DV.2014.49 10.1109/ICRA.2017.7989618 10.1109/IROS.2014.6942926 10.1007/978-3-319-08338-4_25 10.1109/IROS.2017.8202268 10.1177/0278364913509035 10.1109/ICCV.2003.1238663 10.1109/TRO.2006.889486 10.1177/0278364914551008 10.1007/s10514-016-9548-2 10.1109/ICORR.2017.8009347 10.1109/TRO.2015.2463671 10.1177/0278364916669237 10.1109/ICRA.2018.8461180 10.1177/0278364915620033 10.1109/CVPR.2010.5540202 10.1117/12.57955 10.1109/ICCV.2011.6126544 10.1109/MITS.2010.939925 10.1109/ICRA.2018.8461049 10.1109/ICRA.2016.7487258 10.1109/ICARCV.2010.5707402 10.1145/3054739 10.1109/CVPR.2012.6248074 10.1007/978-3-319-46484-8_30 10.1007/s10514-017-9682-5 10.1109/LRA.2018.2800113 10.1007/s10846-014-0085-y 10.1177/0278364914554813 |
| ContentType | Journal Article |
| Copyright | 2018 Wiley Periodicals, Inc. Copyright © 2019 Wiley Periodicals, Inc. |
| Copyright_xml | – notice: 2018 Wiley Periodicals, Inc. – notice: Copyright © 2019 Wiley Periodicals, Inc. |
| DBID | AAYXX CITATION 7SC 7SP 7TB 8FD F28 FR3 JQ2 L7M L~C L~D |
| DOI | 10.1002/rob.21831 |
| DatabaseName | CrossRef Computer and Information Systems Abstracts Electronics & Communications Abstracts Mechanical & Transportation Engineering Abstracts Technology Research Database ANTE: Abstracts in New Technology & Engineering Engineering Research Database ProQuest Computer Science Collection Advanced Technologies Database with Aerospace Computer and Information Systems Abstracts Academic Computer and Information Systems Abstracts Professional |
| DatabaseTitle | CrossRef Technology Research Database Computer and Information Systems Abstracts – Academic Mechanical & Transportation Engineering Abstracts Electronics & Communications Abstracts ProQuest Computer Science Collection Computer and Information Systems Abstracts Engineering Research Database Advanced Technologies Database with Aerospace ANTE: Abstracts in New Technology & Engineering Computer and Information Systems Abstracts Professional |
| DatabaseTitleList | Technology Research Database CrossRef |
| DeliveryMethod | fulltext_linktorsrc |
| Discipline | Engineering |
| EISSN | 1556-4967 |
| EndPage | 446 |
| ExternalDocumentID | 10_1002_rob_21831 ROB21831 |
| Genre | article |
| GrantInformation_xml | – fundername: Natural Sciences and Engineering Research Council of Canada |
| GroupedDBID | .3N .4S .DC .GA .Y3 05W 0R~ 10A 1L6 1OB 1OC 31~ 33P 3SF 3WU 4.4 4ZD 50Y 50Z 51W 51X 52M 52N 52O 52P 52S 52T 52U 52W 52X 5GY 5VS 66C 6TJ 702 7PT 8-0 8-1 8-3 8-4 8-5 85S 8UM 930 A03 AAESR AAEVG AAHQN AAMMB AAMNL AANHP AANLZ AAONW AASGY AAXRX AAYCA AAZKR ABCQN ABCUV ABEML ABIJN ABJNI ABPVW ACAHQ ACBWZ ACCZN ACFBH ACGFS ACIWK ACPOU ACRPL ACSCC ACXBN ACXQS ACYXJ ADBBV ADEOM ADIYS ADIZJ ADKYN ADMGS ADMLS ADNMO ADOZA ADXAS ADZMN AEFGJ AEIGN AEIMD AENEX AEUYR AFBPY AFFPM AFGKR AFWVQ AFZJQ AGHNM AGQPQ AGXDD AGYGG AHBTC AIDQK AIDYY AITYG AIURR AJXKR ALAGY ALMA_UNASSIGNED_HOLDINGS ALUQN ALVPJ AMBMR AMYDB ARCSS ASPBG ATUGU AUFTA AVWKF AZBYB AZFZN AZVAB BAFTC BDRZF BHBCM BMNLL BMXJE BNHUX BROTX BRXPI BY8 CS3 D-E D-F DCZOG DPXWK DR2 DRFUL DRSTM DU5 EBS EDO EJD F00 F01 F04 FEDTE G-S GNP GODZA H.T H.X HBH HF~ HGLYW HVGLF HZ~ I-F IX1 J0M JPC LATKE LAW LC2 LC3 LEEKS LH4 LITHE LOXES LP6 LP7 LUTES LW6 LYRES MEWTI MK4 MK~ MRFUL MRSTM MSFUL MSSTM MXFUL MXSTM N04 N05 N9A NF~ NNB O66 O9- OIG P2W P2X P4D PQQKQ Q.N Q11 QB0 QRW R.K RNS ROL RX1 SUPJJ TUS UB1 V2E W8V W99 WBKPD WIH WIK WLBEL WOHZO WQJ WXSBR WYISQ XG1 XV2 ~02 ~IA ~WT AAHHS AAYXX ACCFJ AEEZP AEQDE AIWBW AJBDE CITATION 7SC 7SP 7TB 8FD F28 FR3 JQ2 L7M L~C L~D |
| ID | FETCH-LOGICAL-c3631-9a1350c3c3b23fc5d41728777e82eb57eafbfe0f369b5e88b57ce207299f5eef3 |
| IEDL.DBID | DR2 |
| ISSN | 1556-4959 |
| IngestDate | Wed Aug 13 06:35:39 EDT 2025 Tue Jul 01 04:33:51 EDT 2025 Thu Apr 24 23:03:56 EDT 2025 Wed Aug 20 07:27:22 EDT 2025 |
| IsPeerReviewed | true |
| IsScholarly | true |
| Issue | 2 |
| Language | English |
| LinkModel | DirectLink |
| MergedId | FETCHMERGED-LOGICAL-c3631-9a1350c3c3b23fc5d41728777e82eb57eafbfe0f369b5e88b57ce207299f5eef3 |
| Notes | ObjectType-Article-1 SourceType-Scholarly Journals-1 ObjectType-Feature-2 content type line 14 |
| ORCID | 0000-0002-3639-7770 0000-0003-0778-5595 |
| PQID | 2177433063 |
| PQPubID | 1006410 |
| PageCount | 31 |
| ParticipantIDs | proquest_journals_2177433063 crossref_primary_10_1002_rob_21831 crossref_citationtrail_10_1002_rob_21831 wiley_primary_10_1002_rob_21831_ROB21831 |
| ProviderPackageCode | CITATION AAYXX |
| PublicationCentury | 2000 |
| PublicationDate | March 2019 |
| PublicationDateYYYYMMDD | 2019-03-01 |
| PublicationDate_xml | – month: 03 year: 2019 text: March 2019 |
| PublicationDecade | 2010 |
| PublicationPlace | Hoboken |
| PublicationPlace_xml | – name: Hoboken |
| PublicationTitle | Journal of field robotics |
| PublicationYear | 2019 |
| Publisher | Wiley Subscription Services, Inc |
| Publisher_xml | – name: Wiley Subscription Services, Inc |
| References | e_1_2_10_1_27_1 Bradski G. (e_1_2_10_1_6_1) 2008 e_1_2_10_1_29_1 e_1_2_10_1_23_1 e_1_2_10_1_46_1 e_1_2_10_1_69_1 e_1_2_10_1_25_1 e_1_2_10_1_48_1 e_1_2_10_1_67_1 e_1_2_10_1_42_1 e_1_2_10_1_65_1 e_1_2_10_1_21_1 e_1_2_10_1_44_1 e_1_2_10_1_63_1 e_1_2_10_1_61_1 e_1_2_10_1_40_1 e_1_2_10_1_80_1 Yi L. (e_1_2_10_1_78_1) 2017; 35 Vincent R. (e_1_2_10_1_74_1) 2010; 7664 e_1_2_10_1_9_1 e_1_2_10_1_7_1 e_1_2_10_1_16_1 e_1_2_10_1_39_1 e_1_2_10_1_18_1 e_1_2_10_1_12_1 e_1_2_10_1_35_1 e_1_2_10_1_58_1 e_1_2_10_1_14_1 e_1_2_10_1_37_1 e_1_2_10_1_56_1 e_1_2_10_1_79_1 e_1_2_10_1_31_1 e_1_2_10_1_5_1 e_1_2_10_1_77_1 e_1_2_10_1_33_1 e_1_2_10_1_3_1 e_1_2_10_1_54_1 e_1_2_10_1_75_1 e_1_2_10_1_50_1 e_1_2_10_1_71_1 Lucas B. D. (e_1_2_10_1_52_1) 1981 Thrun S. (e_1_2_10_1_73_1) 2002 e_1_2_10_1_28_1 e_1_2_10_1_49_1 e_1_2_10_1_24_1 e_1_2_10_1_45_1 e_1_2_10_1_26_1 e_1_2_10_1_47_1 e_1_2_10_1_68_1 Carlone L. (e_1_2_10_1_10_1) 2012 e_1_2_10_1_20_1 e_1_2_10_1_41_1 e_1_2_10_1_66_1 e_1_2_10_1_22_1 e_1_2_10_1_43_1 e_1_2_10_1_64_1 e_1_2_10_1_62_1 e_1_2_10_1_60_1 e_1_2_10_1_8_1 e_1_2_10_1_17_1 e_1_2_10_1_38_1 e_1_2_10_1_19_1 e_1_2_10_1_2_1 e_1_2_10_1_13_1 e_1_2_10_1_34_1 e_1_2_10_1_59_1 e_1_2_10_1_15_1 e_1_2_10_1_36_1 e_1_2_10_1_57_1 e_1_2_10_1_53_1 e_1_2_10_1_76_1 e_1_2_10_1_30_1 e_1_2_10_1_4_1 e_1_2_10_1_55_1 e_1_2_10_1_11_1 e_1_2_10_1_32_1 e_1_2_10_1_72_1 e_1_2_10_1_51_1 e_1_2_10_1_70_1 |
| References_xml | – ident: e_1_2_10_1_3_1 doi: 10.1016/j.cviu.2007.09.014 – ident: e_1_2_10_1_51_1 doi: 10.1023/B:VISI.0000029664.99615.94 – ident: e_1_2_10_1_57_1 doi: 10.1109/TRO.2017.2705103 – ident: e_1_2_10_1_58_1 doi: 10.1016/j.robot.2017.03.019 – ident: e_1_2_10_1_41_1 – ident: e_1_2_10_1_29_1 doi: 10.1109/IVS.2011.5940405 – ident: e_1_2_10_1_25_1 – ident: e_1_2_10_1_55_1 – ident: e_1_2_10_1_19_1 doi: 10.1007/978-3-319-10605-2_54 – ident: e_1_2_10_1_27_1 doi: 10.1109/TRO.2012.2197158 – ident: e_1_2_10_1_69_1 doi: 10.1007/978-3-319-32552-1_46 – ident: e_1_2_10_1_80_1 doi: 10.1111/cgf.13386 – ident: e_1_2_10_1_2_1 doi: 10.1109/ICRA.2018.8462974 – ident: e_1_2_10_1_18_1 doi: 10.1109/TRO.2013.2279412 – ident: e_1_2_10_1_22_1 doi: 10.1109/TePRA.2013.6556373 – ident: e_1_2_10_1_46_1 doi: 10.1109/TRO.2013.2242375 – start-page: 41 year: 2012 ident: e_1_2_10_1_10_1 article-title: A linear approximation for graph‐based simultaneous localization and mapping publication-title: Robotics: Science and Systems VII doi: 10.7551/mitpress/9481.003.0011 – ident: e_1_2_10_1_33_1 doi: 10.1016/j.robot.2015.09.026 – volume: 35 start-page: 23 issue: 1 year: 2017 ident: e_1_2_10_1_78_1 article-title: Autonomous aerial navigation using monocular visual‐inertial fusion publication-title: Journal of Field Robotics – ident: e_1_2_10_1_11_1 doi: 10.1007/978-3-319-29339-4_5 – ident: e_1_2_10_1_72_1 doi: 10.1109/LRA.2018.2793349 – start-page: 674 volume-title: Proceedings International Joint Conference on Artificial Intelligence year: 1981 ident: e_1_2_10_1_52_1 – ident: e_1_2_10_1_44_1 doi: 10.1007/978-1-4471-1580-9_19 – ident: e_1_2_10_1_42_1 doi: 10.1109/SSRR.2011.6106777 – ident: e_1_2_10_1_63_1 doi: 10.1109/ICRA.2011.5980567 – ident: e_1_2_10_1_38_1 – ident: e_1_2_10_1_5_1 doi: 10.1177/0278364908091366 – ident: e_1_2_10_1_53_1 doi: 10.1109/ROBOT.2010.5509725 – ident: e_1_2_10_1_37_1 doi: 10.1007/s10514-012-9321-0 – ident: e_1_2_10_1_40_1 doi: 10.1109/IROS.2013.6696650 – ident: e_1_2_10_1_43_1 – ident: e_1_2_10_1_59_1 doi: 10.1109/ICRA.2014.6907233 – ident: e_1_2_10_1_12_1 doi: 10.1002/rob.21762 – ident: e_1_2_10_1_24_1 doi: 10.1109/ICRA.2014.6906584 – ident: e_1_2_10_1_71_1 doi: 10.1109/IROS.2012.6385773 – ident: e_1_2_10_1_26_1 doi: 10.1007/s10462-012-9365-8 – ident: e_1_2_10_1_45_1 doi: 10.1109/ICRA.2011.5979949 – volume: 7664 start-page: 1Z year: 2010 ident: e_1_2_10_1_74_1 article-title: Comparison of indoor robot localization techniques in the absence of GPS publication-title: Detection and Sensing of Mines, Explosive Objects, and Obscured Targets XV – ident: e_1_2_10_1_20_1 doi: 10.1109/IROS.2015.7353631 – ident: e_1_2_10_1_60_1 doi: 10.1007/s10514-013-9327-2 – ident: e_1_2_10_1_7_1 doi: 10.1109/ICORR.2017.8009393 – ident: e_1_2_10_1_30_1 – ident: e_1_2_10_1_64_1 doi: 10.1109/MRA.2011.943233 – ident: e_1_2_10_1_35_1 doi: 10.1109/3DV.2014.49 – ident: e_1_2_10_1_16_1 doi: 10.1109/ICRA.2017.7989618 – ident: e_1_2_10_1_47_1 doi: 10.1109/IROS.2014.6942926 – ident: e_1_2_10_1_54_1 doi: 10.1007/978-3-319-08338-4_25 – start-page: 1 volume-title: Exploring artificial intelligence in the new millennium year: 2002 ident: e_1_2_10_1_73_1 – ident: e_1_2_10_1_9_1 – ident: e_1_2_10_1_17_1 doi: 10.1109/IROS.2017.8202268 – ident: e_1_2_10_1_21_1 doi: 10.1177/0278364913509035 – ident: e_1_2_10_1_68_1 doi: 10.1109/ICCV.2003.1238663 – ident: e_1_2_10_1_32_1 doi: 10.1109/TRO.2006.889486 – ident: e_1_2_10_1_75_1 doi: 10.1177/0278364914551008 – ident: e_1_2_10_1_79_1 doi: 10.1007/s10514-016-9548-2 – ident: e_1_2_10_1_49_1 doi: 10.1109/ICORR.2017.8009347 – ident: e_1_2_10_1_56_1 doi: 10.1109/TRO.2015.2463671 – ident: e_1_2_10_1_76_1 doi: 10.1177/0278364916669237 – ident: e_1_2_10_1_61_1 – ident: e_1_2_10_1_67_1 – ident: e_1_2_10_1_65_1 doi: 10.1109/ICRA.2018.8461180 – ident: e_1_2_10_1_8_1 doi: 10.1177/0278364915620033 – ident: e_1_2_10_1_77_1 doi: 10.1109/CVPR.2010.5540202 – ident: e_1_2_10_1_4_1 doi: 10.1117/12.57955 – ident: e_1_2_10_1_62_1 doi: 10.1109/ICCV.2011.6126544 – ident: e_1_2_10_1_31_1 doi: 10.1109/MITS.2010.939925 – ident: e_1_2_10_1_23_1 – ident: e_1_2_10_1_14_1 doi: 10.1109/ICRA.2018.8461049 – ident: e_1_2_10_1_36_1 doi: 10.1109/ICRA.2016.7487258 – ident: e_1_2_10_1_70_1 doi: 10.1109/ICARCV.2010.5707402 – ident: e_1_2_10_1_15_1 – ident: e_1_2_10_1_13_1 doi: 10.1145/3054739 – ident: e_1_2_10_1_28_1 doi: 10.1109/CVPR.2012.6248074 – ident: e_1_2_10_1_39_1 doi: 10.1007/978-3-319-46484-8_30 – ident: e_1_2_10_1_48_1 doi: 10.1007/s10514-017-9682-5 – ident: e_1_2_10_1_66_1 doi: 10.1109/LRA.2018.2800113 – volume-title: Learning OpenCV: Computer vision with the OpenCV library year: 2008 ident: e_1_2_10_1_6_1 – ident: e_1_2_10_1_34_1 doi: 10.1007/s10846-014-0085-y – ident: e_1_2_10_1_50_1 doi: 10.1177/0278364914554813 |
| SSID | ssj0043895 |
| Score | 2.6724226 |
| Snippet | Distributed as an open‐source library since 2013, real‐time appearance‐based mapping (RTAB‐Map) started as an appearance‐based loop closure detection approach... |
| SourceID | proquest crossref wiley |
| SourceType | Aggregation Database Enrichment Source Index Database Publisher |
| StartPage | 416 |
| SubjectTerms | Autonomous navigation Lidar Localization Locomotion Memory management perception position estimation Robots Sensors Simultaneous localization and mapping SLAM |
| Title | RTAB‐Map as an open‐source lidar and visual simultaneous localization and mapping library for large‐scale and long‐term online operation |
| URI | https://onlinelibrary.wiley.com/doi/abs/10.1002%2Frob.21831 https://www.proquest.com/docview/2177433063 |
| Volume | 36 |
| hasFullText | 1 |
| inHoldings | 1 |
| isFullTextHit | |
| isPrint | |
| link | http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwnV1LSwMxEA7Skx58i_VFEA9etu1uNvvAk4pShCoUCz0IS7LJlmLdSrf14Mmf4G_0lziT7NYHCuJtyU6yec832ck3hBy5Lv7-i1xHBSx1fI37oOuHjvS9zA2kFNp4u3eug3bPv-rz_gI5qe7CWH6I-YEbrgyzX-MCF7JofpCGTsaygfodTR_01UJA1J1TR2FQb264UnnggBEQV6xCLa85z_lVF30AzM8w1eiZyxVyV9XQupfcN2ZT2Uifv5E3_rMJq2S5xJ_01E6YNbKg83Wy9ImVcIO8dm9Pz95eXjvikYqCipxiiC1IsAf9dDRUYgLJij4NixkUVgzRLVHkejwrqFGO5eVOI_QgkAJiQMuqUkDJdIT-51giyGojNRrnA0hARUFt0_Crdnpukt7lxe152ykDNzgpC5jrxMJlvJWylEmPZSlXPkbBCsNQR56WPNQik5luZSyIJddRBEmp9pDDPM641hnbIrV8nOttQkMhAk-BVQhZfBWJ2NexQgymJM9EpOrkuBrCJC1ZzTG4xiixfMxeAp2cmE6uk8O56KOl8vhJaK-aB0m5mgt4AyCZgXHF4HNmQH8vIOnenJmHnb-L7pJFwGGxdW3bI7XpZKb3AetM5YGZ1O_8hQEJ |
| linkProvider | Wiley-Blackwell |
| linkToHtml | http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMw1V3NbtQwEB6VcoAe-EcUClgIJC7Zbuw4P4ceWkq1pd0irbZSb8GOnWrVJVttdkFw6iP0QXgVXoInYcZOtgWBxKUHbtFkYkdjj2fGHn8D8DIM6fgvDQMTiyKILK2DYZQEOuJlGGutrMt27x_EvcPo3ZE8WoJv7V0Yjw-x2HAjzXDrNSk4bUivX6CGTie6QwY-bFIq9-yXzxiw1Ru72zi6rzjfeTt80wuamgJBIWIRBpkKhewWohCai7KQJqICTUmS2JRbLROrSl3abiniTEubpkgqLCd47ayU1pYC270G16mCOCH1bw8WYFVURlw6dFYZBxh2ZC2OUZevL371V-t34dJedoydZdu5Dd9bmfiElpPOfKY7xdff4CL_F6HdgVuNi802vU7chSVb3YOVS8CL9-F8MNzc-nF23lenTNVMVYyqiCHBn2Ww8cioKZIN-zSq59hYPaLMS1XZybxmzv4391cd00dFKBfHrJENw0CAjSnFnlpEXuu4xpPqGAlkC5mXJfXqNfABHF6JSB7CcjWp7CNgiVIxNxj44ieRSVUW2cyQm2m0LFVqVuF1O2fyogFup_oh49xDTvMcBzV3g7oKLxaspx6t5E9Ma-3Ey5sFq8Y3GAcIjB8Fdudm0N8byAfvt9zD439nfQ43esP-fr6_e7D3BG6i25n5TL41WJ5N5_YpunYz_cxpFIMPVz0bfwIdF1-u |
| linkToPdf | http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMw1V3NbtQwEB6VIiE4QPkThVIsBBKXbDdxnJ8Dh5Zl1VJa0KqVegt2bFcrluxqs0tVTjxC34NX4Sl4EmbsZFsQSFx64BY5k0k0nvHMxONvAJ6FIW3_ZWGgE14GsaF1MIzTQMWRDROlpHHV7nv7yfZh_OZIHC3Bt_YsjMeHWPxwI8tw6zUZ-ETbjXPQ0OlYdci_h01F5a45PcF8rX6508PJfR5F_dcHr7aDpqVAUPKEh0EuQy66JS-5irgthY6pP1OapiaLjBKpkVZZ07U8yZUwWYZDpYkIXTu3whjLke8VuBon3Zz6RPQGC6wq6iIuHDirSALMOvIWxqgbbSw-9Vfndx7RXoyLnWPr34LvrUh8PcvHznymOuWX39Ai_xOZrcDNJsBmm94ibsOSqe7AjQuwi3fhbHCwufXj69menDBZM1kx6iGGA34ng42GWk5xWLPPw3qOzOoh1V3KyoznNXPevzm96og-ScK4OGaNaBimAWxEBfbEEWmNoxqNq2McIE_IvCjprd7-7sHhpYjkPixX48o8AJZKmUQa0158JNaZzGOTawoytRJWZnoVXrQqU5QNbDt1DxkVHnA6KnBSCzepq_B0QTrxWCV_Ilpr9a5olqsa72AWwDF75Pg6p0B_Z1AM3m25i4f_TvoErr3v9Yu3O_u7j-A6xpy5L-Nbg-XZdG4eY1w3U-vOnhh8uGxl_Amdb15d |
| openUrl | ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=article&rft.atitle=RTAB%E2%80%90Map+as+an+open%E2%80%90source+lidar+and+visual+simultaneous+localization+and+mapping+library+for+large%E2%80%90scale+and+long%E2%80%90term+online+operation&rft.jtitle=Journal+of+field+robotics&rft.au=Labb%C3%A9%2C+Mathieu&rft.au=Michaud%2C+Fran%C3%A7ois&rft.date=2019-03-01&rft.issn=1556-4959&rft.eissn=1556-4967&rft.volume=36&rft.issue=2&rft.spage=416&rft.epage=446&rft_id=info:doi/10.1002%2Frob.21831&rft.externalDBID=10.1002%252Frob.21831&rft.externalDocID=ROB21831 |
| thumbnail_l | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/lc.gif&issn=1556-4959&client=summon |
| thumbnail_m | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/mc.gif&issn=1556-4959&client=summon |
| thumbnail_s | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/sc.gif&issn=1556-4959&client=summon |