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matlabbe edited this page Nov 23, 2014 · 28 revisions

#summary Tutorials of RTAB-Map.

Installation instructions can be found here.

Robot RGB-D mapping (ROS)

If you want to use RTAB-Map with ROS, the easiest way is to use the ros-pkg provided, refer to [ROS#Demos ROS Demos]. Otherwise, you could use the RTAB-Map library in C++, giving the required inputs (see this [RGBDExample example] of usage).

Robot configurations

  • This page shows how to integrate RTAB-Map on your robot.

SetupOnYourRobot

Standalone RTAB-Map application

Hand-held Kinect RGB-D Mapping

  • This tutorial shows how to use RTAB-Map out-of-the-box to map an environment using a hand-held Kinect.

RGB-D Kinect mapping

Fast RGB-D Mapping

  • This tutorial shows how to setup RTAB-Map with fast odometry (~20/30Hz).

Fast RGB-D Mapping

Multi-session mapping

  • This tutorial shows a demonstration with real robot data for multi-session mapping.

Multi-session mapping

Appearance-based loop closure detection

  • This simple example shows how to process your own data set (images-only) with RTAB-Map.

Appearanced-based mapping

Benchmark loop closure detection

  • This tutorial shows how to use rtabmap-console tool to process all data sets in the paper "[https://introlab.3it.usherbrooke.ca/mediawiki-introlab/images/b/bc/TRO2013.pdf Appearance-Based Loop Closure Detection for Online Large-Scale and Long-Term Operation]", then using MATLAB and ground truth files to show Precision/Recall curves.

Benchmark

Plot statistics

  • This tutorial will show the power of GUI for online monitoring of the core process.

Statistics

C++ usage (library)

How to use RTAB-Map library in your C++ project.

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