Télécharger RTAB-Map - 3D LiDAR Scanner sur PC

RTAB-Map - 3D LiDAR Scanner Sur iTunes

RTAB-Map (Real-Time Appearance-Based Mapping) is an Open Source LiDAR / RGB-D / Stereo Graph-Based SLAM (Simultaneous Localization and Mapping) approach based on an online incremental appearance-based loop closure detector.  * Note that unlike other scanning apps that optimize the map only after mapping, with RTAB-Map you get loop closure detection and map optimization online so you can have a live feedback to know when you have enough constraints in the map for good global optimization before stopping the scan.  An optional memory management approach can be 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.  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 in real-time.  * Online loop closure detection and map correction.  ARKit's visual inertial odometry (VIO) is used as the SLAM front-end for RTAB-Map (the SLAM back-end).  * Use Apriltags to help finding loop closures in textureless environments.  * Raw ARKit data recording (up to 60 Hz!), useful to record long sessions without comprising battery life.  * Multi-session mapping (save and continue later).  *** 3D reconstruction available only with LiDAR sensor.  * Save in DB format (RTAB-Map desktop and rtabmap_ros format).