RTAB‐Map as an open‐source lidar and visual simultaneous localization and mapping library for large‐scale and long‐term online operation

• Published in: Journal of field robotics Vol. 36; no. 2; pp. 416 - 446
• Main Authors: Labbé, Mathieu, Michaud, François
• Format: Journal Article
• Language: English
• Published: Hoboken Wiley Subscription Services, Inc 01.03.2019
• Subjects: Autonomous navigation; Lidar; Localization; Locomotion; Memory management; perception; position estimation; Robots; Sensors; Simultaneous localization and mapping; SLAM

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...