RTAB-Map as an open-source lidar and visual simultaneous localization and mapping library for large-scale and long-term online operation.
Mathieu LabbéFrançois MichaudPublished in: J. Field Robotics (2019)
Keyphrases
- simultaneous localization and mapping
- long term
- open source
- loop closing
- mobile robot
- map building
- robot localization
- information filter
- object and scene recognition
- topological map
- visual slam
- detection and tracking of moving objects
- dynamic environments
- kalman filter
- real world
- data association
- indoor environments
- particle filter
- robot navigation
- visual features
- real time
- mobile robotics
- loop closure
- robot moves
- extended kalman filter
- high resolution
- outdoor environments
- visual odometry
- point cloud
- three dimensional
- learning algorithm