Tutorials

matlabbe edited this page Oct 11, 2017 · 26 revisions

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

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

Depth Calibration

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

    Distorsion model

Change RTAB-Map's parameters

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

Multi-session mapping

Multi-session mapping with RTAB-Map Tango

  • This tutorial shows how to merge multiple scans taken with RTAB-Map Tango. Multi-session mapping Tango

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

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.

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