Tutorials

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.

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.

• C++ usage example for RGB-D Mapping
• C++ usage example for appearance-based loop closure detection only