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App Description
RTAB-Map (Real-Time Appearance-Based Mapping) is an Open Source LiDAR / RGB-D / Stereo Graph-Based SLAM approach based on an online 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 in real-time. 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. * Note that unlike other scanning apps that optimize the map after the mapping, with RTAB-Map you get loop closure detection and map optimization online so you can have feedback live to know when you have enough constraints in the map for good global optimization before stopping the scan. *** 3D reconstruction available only with LiDAR sensor Features: * Online 3D scanning/mapping of the environment * Online loop closure detection and map correction * Save in DB format (RTAB-Map desktop and rtabmap_ros format) * Export in PLY or OBJ * Multi-session mapping (save and continue later) * Use Apriltags to help find loop closures in textureless environments * Mixed AR/VR First-Person in visualization mode
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Basic Info
Mathieu Labbe
com.introlab.rtabmap
0.21.2
Tools
Requires iOS 14.3 or later. Compatible with iPhone 6S, iPhone 6S Plus, iPhone SE (1st generation), iPhone 7, iPhone 7 Plus, iPhone 8, iPhone 8 Plus, iPhone X, iPhone XS, iPhone XS Max, iPhone XR, iPhone 11, iPhone 11 Pro, iPhone 11 Pro Max, iPhone SE (2nd generation), iPhone 12 mini, iPhone 12, iPhone 12 Pro, iPhone 12 Pro Max, iPhone 13 Pro, iPhone 13 Pro Max, iPhone 13 mini, iPhone 13, iPhone SE (3rd generation), iPhone 14, iPhone 14 Plus, iPhone 14 Pro, iPhone 14 Pro Max, iPhone 15, iPhone 15 Plus, iPhone 15 Pro, iPhone 15 Pro Max, iPad Pro (12.9‑inch), iPad Pro (12.9‑inch) Wi‑Fi + Cellular, iPad Pro (9.7‑inch), iPad Pro (9.7‑inch) Wi‑Fi + Cellular, iPad (5th generation), iPad (5th generation) Wi‑Fi + Cellular, iPad Pro (12.9‑inch) (2nd generation), iPad Pro (12.9‑inch) (2nd generation) Wi‑Fi + Cellular, iPad Pro (10.5‑inch), iPad Pro (10.5‑inch) Wi‑Fi + Cellular, iPad (6th generation), iPad (6th generation) Wi‑Fi + Cellular, iPad Pro (11‑inch), iPad Pro (11‑inch) Wi‑Fi + Cellular, iPad Pro (12.9‑inch) (3rd generation), iPad Pro (12.9‑inch) (3rd generation) Wi‑Fi + Cellular, iPad mini (5th generation), iPad mini (5th generation) Wi‑Fi + Cellular, iPad Air (3rd generation), iPad Air (3rd generation) Wi‑Fi + Cellular, iPad (7th generation), iPad (7th generation) Wi‑Fi + Cellular, iPad Pro (11‑inch) (2nd generation), iPad Pro (11‑inch) (2nd generation) Wi‑Fi + Cellular, iPad Pro (12.9‑inch) (4th generation), iPad Pro (12.9‑inch) (4th generation) Wi‑Fi + Cellular, iPad Air (4th generation), iPad Air (4th generation) Wi‑Fi + Cellular, iPad (8th generation), iPad (8th generation) Wi‑Fi + Cellular, iPad Pro (11-inch) (3rd generation), iPad Pro (11-inch) (3rd generation) Wi-Fi + Cellular, iPad Pro (12.9-inch) (5th generation), iPad Pro (12.9-inch) (5th generation) Wi-Fi + Cellular, iPad mini (6th generation), iPad mini (6th generation) Wi-Fi + Cellular, iPad (9th generation), iPad (9th generation) Wi-Fi + Cellular, iPad Air (5th generation), iPad Air (5th generation) Wi‑Fi + Cellular, iPad (10th generation), iPad (10th generation) Wi‑Fi + Cellular, iPad Pro (11‑inch) (4th generation), iPad Pro (11‑inch) (4th generation) Wi‑Fi + Cellular, iPad Pro (12.9‑inch) (6th generation), iPad Pro (12.9‑inch) (6th generation) Wi‑Fi + Cellular and iPod touch (7th generation).
English
4+
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