turtlebot2-tutorials

3D SLAM with RGB-D Sensors

An RGB-D sensor, like the Orbbec Astra or Microsoft Kinect, houses a color camera (RGB) along with a depth camera (D). Using the depth sensor, we can map the color image on top of the depth image to get a 3D color image.

RTABMAP

RTABMAP (Real-Time Appearance-Based Mapping) is a RGB-D Graph-Based SLAM approach based on an incremental appearance-based global Bayesian loop closure detector.

Using RTABMAP

RGBDSLAM

RGBDSLAM is a RGB-D loop-closure graph-based SLAM approach using visual odometry and custom implementations of opencv methods

Using RGBDSLAM

ORB_SLAM

ORB_SLAM is a

Using ORB_SLAM

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