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Tutorials

matlabbe edited this page Sep 4, 2015 · 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.

RGB-D Kinect mapping

Hand-held Stereo Mapping

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

Stereo mapping

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.

Texture tutorial

Robust Graph Optimization

  • This example shows how to activate robust graph optimization. Robust graph optimization

Change RTAB-Map's parameters

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

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

Benchmark

Plot statistics

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

Statistics

ICP

  • This tutorial discusses about ICP.

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.

IROS Kinect Challenge

C++ usage (library)

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