RTABMap
RTAB-Map (Real-Time Appearance-Based Mapping) is an open-source SLAM library designed for real-time 2D and 3D mapping with visual and depth sensors. It is commonly used in robotics and augmented reality to build spatial maps and estimate trajectories while recognizing previously seen places. The system emphasizes long-term mapping by managing memory of past observations to support loop closures.
At its core, RTAB-Map maintains a memory management scheme that separates short-term and long-term observations to
RTAB-Map primarily consumes RGB-D and stereo camera data but can also process 3D point clouds from other
The library is written in C++, cross-platform, and available as a ROS package as well as a
RTAB-Map has been widely adopted for autonomous navigation, indoor mapping, and AR/VR research. Its memory-based approach