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<!> '''Disclaimer:''' RT-SLAM is currently in development and has no official release. It is provided as-is, there is no standalone installation, there is some code to adapt for your own use, and it is generally not advised to people who do not want to get their hands dirty.
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RT-SLAM is a fast Slam library and test framework based on EKF. Its main qualities are:
 * '''genericity''': sensor models, landmark types, landmark models, reparametrization from one landmark model to another one, estimating biases;
 * '''speed''': real time at 60 fps, VGA, gray level;
 * '''flexibility''': different estimation/image processing sequencing (active search), independent base brick for a hierarchical multimap and multirobots architecture;
 * '''robustness''' : near-optimal repartition of landmarks, data association errors detection (gating, ransac);
 * '''developer-friendly''' : visualization tools (2D and 3D), offline replay step by step, logs, simulation.
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 * Stabilize and make a release
 * Inertial and Odometry Slam
 * Multimap Slam
 * Segment Slam

RT-SLAM

RT-SLAM stands for Real Time SLAM (Simultaneous Localization And Mapping).

<!> Disclaimer: RT-SLAM is currently in development and has no official release. It is provided as-is, there is no standalone installation, there is some code to adapt for your own use, and it is generally not advised to people who do not want to get their hands dirty.

Presentation

RT-SLAM is a fast Slam library and test framework based on EKF. Its main qualities are:

  • genericity: sensor models, landmark types, landmark models, reparametrization from one landmark model to another one, estimating biases;

  • speed: real time at 60 fps, VGA, gray level;

  • flexibility: different estimation/image processing sequencing (active search), independent base brick for a hierarchical multimap and multirobots architecture;

  • robustness : near-optimal repartition of landmarks, data association errors detection (gating, ransac);

  • developer-friendly : visualization tools (2D and 3D), offline replay step by step, logs, simulation.

Documentation

Screenshots and videos

Roadmap

  • Stabilize and make a release
  • Inertial and Odometry Slam
  • Multimap Slam
  • Segment Slam

OpenrobotsWiki: rtslam (last edited 2014-07-24 13:43:17 by croussil)