Tutorials

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matlabbe edited this page Mar 23, 2017 · 28 revisions

Tutorials of RTAB-Map. Installation instructions can be found here.

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.

Hand-held Stereo Mapping

This tutorial shows how to use RTAB-Map to map an environment using a hand-held Stereo camera.

Export Raster Layers to MeshLab

This tutorial shows how to export a low resolution mesh from RTAB-Map to MeshLab with corresponding camera textures. In MeshLab, we can then create a texture for the mesh from the exported cameras.

Robust Graph Optimization

This example shows how to activate robust graph optimization.

Depth Calibration

This example shows how calibrate the depth images to reduce distorsion at longer range.

Change RTAB-Map's parameters

This example shows how to change most used RTAB-Map's parameters.

Multi-session mapping

This tutorial shows a demonstration with real robot data for multi-session mapping. It is the data used in the paper "Online Global Loop Closure Detection for Large-Scale Multi-Session Graph-Based SLAM".

Appearance-based loop closure detection

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

Benchmark loop closure detection

This tutorial shows how to use rtabmap-console tool to process all data sets in the paper "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.

Plot statistics

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

ICP

This tutorial discusses about ICP.

IROS 2014 Kinect Challenge

This is more a example case than a tutorial but it shows how RTAB-Map was configured to be part of the winner's solution of the contest.

C++ usage (library)

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