Project Heads-up
SLAM(Simultaneous Localization and mapping) (Nvidia Article here) is a technology where a robot builds a map representing its spatial environment while keeping a track of its position within the built map. Real-time apperance based mapping (RTAB) is RGB-D , stereo , Graph based SLAM approach based on incremental appearance-based loop closure detector. More here.
This project is about implementing SLAM(Simultaneous Localization and mapping) with RTAB-MAP(Real-Time Appearance-Base Mapping) package. Two 2D occupancy grid and a 3D octomap is created from a simulated environment. The results show the robot successfully localizing and mapping itself in the surrounding.