= RT-SLAM =

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

== Presentation ==

RT-SLAM is a fast Slam library and test framework based on EKF. Its main qualities are:
 * '''genericity''': for sensor models, landmark types, landmark models, landmarks reparametrization, biases estimation;
 * '''speed''': real time at 60 fps (VGA, gray level) on a decent machine (at least one Core2 core at 2.2GHz)
 * '''flexibility''': different estimation/image processing sequencing strategies (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.
 * '''open source''': in C++ for Linux and MacOS

For now it provides:
 * '''Landmarks''': Anchored Homogeneous Points (Inverse Depth) that can be reparametrized into Euclidean Points;
 * '''Sensors''': Pinhole cameras;
 * '''Prediction''': Constant velocity model, inertial sensor;
 * '''Data association''': Active search, 1-point Ransac, and mixed strategies.


== Documentation ==

  * [[rtslam/Installation|Installation guide]]
  * [[rtslam/Using|User guide]]
  * [[http://homepages.laas.fr/croussil/doc/jafar/group__rtslam.html|Developer guide]] (Doxygen documentation)
  * [[http://trac.laas.fr/git/rtslam-jafar|Git web interface]] (source code browsing)
  * Contact: rtslam-users@laas.fr (please always '''reply all''' to messages to include the mailing list; if you are interested you can subscribe to this alias [[https://sympa.laas.fr/sympa/info/rtslam-users|there]])

== Screenshots and videos ==

||<tablestyle="width:100%;text-align:center;" style="border:0px"> {{attachment:rtslam3D.png|3D view|width=400px}}||<style="border:0px"> {{attachment:rtslam2D.png|2D view|width=400px}} ||

 * [[http://homepages.laas.fr/croussil/videos/2010-11-29_rtslam_grande-salle_q25.avi|Demo 1]] (v.a, 1'33, 23Mo, H264 AVI): hand held alone camera at 60 fps indoor, with several loop closures.
 * [[http://homepages.laas.fr/croussil/videos/2011-02-15_rtslam-inertial-high-dyn.avi|Demo 2]] (v.b, 1'06, 20Mo, H264 AVI): hand held IMU+camera at 50 fps indoor, with very high dynamic.
 * [[http://homepages.laas.fr/croussil/videos/2011-06-09_rtslam-inertial-robot-grass.avi|Demo 3]] (v.a, 1'25, 27Mo, H264 AVI): IMU+camera on a rover robot on grass, with short term memory (lost landmarks are removed, no loop closure)
 * [[/Material|Additional videos referenced in papers]]

== Papers ==

  * __RT-SLAM: A Generic and Real-Time Visual SLAM Implementation__. Cyril Roussillon, Aurélien Gonzalez, Joan Solà, Jean-Marie Codol, Nicolas Mansard, Simon Lacroix, and Michel Devy. ICVS 2011, volume 6962 of Lecture Notes in Computer Science, page 31-40. Springer. [[http://homepages.laas.fr/croussil/publications/2011_ICVS_rtslam.pdf|Download PDF]]
  * __High rate-localization for high-speed all-terrain robots__. Cyril Roussillon, Simon Lacroix. CCCA 2012. [[http://homepages.laas.fr/croussil/publications/2012_CCCA_rtslam.pdf|Download PDF]]


== Roadmap ==

 * Stabilize and make a release
 * Odometry Slam
 * Multimap Slam
 * Segments Slam

== Authors ==

 * Contact for general questions: rtslam-users@laas.fr
 * [[http://joansola.eu|Joan Solà]]
 * [[http://pro.cyril-roussillon.fr|Cyril Roussillon]]
 * [[http://homepages.laas.fr/agonzale|Aurélien Gonzalez]]
 * [[http://homepages.laas.fr/nmansard|Nicolas Mansard]]
 * [[http://homepages.laas.fr/jmcodol|Jean-Marie Codol]]
 * [[http://homepages.laas.fr/dmarquez|David Marquez]]