# introlab/rtabmap

RTAB-Map library and standalone application

Repository: https://github.com/introlab/rtabmap
Canonical: https://ross.abutalabs.com/products/rtabmap
Homepage: https://introlab.github.io/rtabmap
Language: C++
License: NOASSERTION
License Family: other
Topics: slam, scanning, mapping, localization, project-tango, robotics, android, ios, ros, ros2
Last push: 2026-08-24T05:47:40+00:00

## Health v2 (maintenance only)
Score: 88/100 (v2, computed 2026-09-03T02:20:16.233290+00:00)
- activity 99, release rhythm 67, longevity 100
- inputs: {"age_days": 4405, "days_push": 9, "days_rel": 60, "gap_med": 177.5, "n_releases_24m": 3}
- flags: no_license
- formula: round(0.45*activity + 0.35*rhythm + 0.20*longevity); archived -> min(score, 10)

## Adoption (not part of the score)
Stars 3965, forks 954 (observed 2026-08-28T04:08:30.682228+00:00)

## What it is
RTAB-Map (Real-Time Appearance-Based Mapping) is a C++ library and standalone application implementing graph-based SLAM for RGB-D, stereo, and lidar sensors, with an appearance-based loop closure detector. It supports 6DoF and 3DoF mapping on robots or handheld devices, with ROS/ROS2 integration and mobile support.

## Use cases
- build 3D maps of indoor environments with an RGB-D camera or lidar
- perform real-time SLAM and loop closure detection on a robot
- localize a robot against a previously built map
- do multi-session mapping with illumination-invariant re-localization
- create 6DoF scans with a handheld Kinect or stereo camera
- integrate SLAM into a ROS or ROS2 robotics stack

## When to choose
- you need a mature, actively maintained open-source SLAM solution supporting RGB-D, stereo, and lidar
- you want ROS/ROS2 integration for a robotics project
- you need large-scale, long-term online mapping with memory management
- you want multi-session mapping and re-localization out of the box

## When to avoid
- you need visual-inertial odometry only without mapping or loop closure
- you want a lightweight pure-visual odometry pipeline without a graph backend
- your platform is not among Linux, macOS, Windows, Android, or iOS

## Facets
- artifact type: library
- maturity: stable
- function: computer-vision, simulation, sdk, cli
- domain: robotics, autonomous-vehicles, computer-vision
- platform: windows, cpp, python, cross-platform
- tags: slam, mapping, localization, rgb-d, lidar, stereo-vision, loop-closure, ros, ros2, graph-optimization, 3d-mapping, algorithms, linux, macos, android, ios

## Member repositories
- introlab/rtabmap (main) score 88

## Provenance
- Observed fields: from GitHub, fetched 2026-08-28T04:08:30.682228+00:00.
- Health v2: computed from the inputs above; adoption is never an input.
- Inferred fields (summary, facets, guidance): AI-extracted, prompt v1, taxonomy v1, on 2026-08-29T18:24:25.446483+00:00, confidence not recorded.
  - readme: https://github.com/introlab/rtabmap (fetched 2026-08-28T04:08:30.682228+00:00, sha bd7da4273cdc)
  - homepage: https://introlab.github.io/rtabmap (fetched 2026-08-29T09:17:51.606559+00:00, sha 738a98616396)
- Data as of 2026-08-30T08:39:29.467469+00:00.