RTAB-Map as an open-source lidar and visual simultaneous localization and mapping library for large-scale and long-term online operation

Mathieu Labbé, François Michaud. RTAB-Map as an open-source lidar and visual simultaneous localization and mapping library for large-scale and long-term online operation. J. Field Robotics, 36(2):416-446, 2019. [doi]

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