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* M. Labbé and F. Michaud, “[Long-term online multi-session graph-based SPLAM with memory management](https://arxiv.org/abs/2301.00050),” in _Autonomous Robots_, vol. 42, no. 6, pp. 1133-1150, 2018. ([Springer](http://dx.doi.org/10.1007/s10514-017-9682-5)) ([Google Scholar](https://scholar.google.com/citations?view_op=view_citation&hl=en&user=G3BrBkMAAAAJ&citation_for_view=G3BrBkMAAAAJ:Tyk-4Ss8FVUC))

#### Multi-session SLAM
* M. Labbé and F. Michaud, “[Online Global Loop Closure Detection for Large-Scale Multi-Session Graph-Based SLAM](https://introlab.3it.usherbrooke.ca/mediawiki-introlab/images/e/eb/Labbe14-IROS.pdf),” in _Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems_, 2014. ([IEEE Xplore](http://ieeexplore.ieee.org/document/6942926/)) ([Google Scholar](https://scholar.google.com/citations?view_op=view_citation&hl=en&user=G3BrBkMAAAAJ&citation_for_view=G3BrBkMAAAAJ:9yKSN-GCB0IC))
* M. Labbé and F. Michaud, “[Online Global Loop Closure Detection for Large-Scale Multi-Session Graph-Based SLAM](https://introlab.3it.usherbrooke.ca/images/e/eb/Labbe14-IROS.pdf),” in _Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems_, 2014. ([IEEE Xplore](http://ieeexplore.ieee.org/document/6942926/)) ([Google Scholar](https://scholar.google.com/citations?view_op=view_citation&hl=en&user=G3BrBkMAAAAJ&citation_for_view=G3BrBkMAAAAJ:9yKSN-GCB0IC))
* Results shown in this paper can be reproduced by the [Multi-session mapping](https://github.com/introlab/rtabmap/wiki/Multi-session) tutorial.

#### Loop closure detection
* M. Labbé and F. Michaud, “[Appearance-Based Loop Closure Detection for Online Large-Scale and Long-Term Operation](https://introlab.3it.usherbrooke.ca/mediawiki-introlab/images/b/bc/TRO2013.pdf),” in _IEEE Transactions on Robotics_, vol. 29, no. 3, pp. 734-745, 2013. ([IEEE Xplore](http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6459608)) ([Google Scholar](https://scholar.google.com/citations?view_op=view_citation&hl=en&user=G3BrBkMAAAAJ&citation_for_view=G3BrBkMAAAAJ:u-x6o8ySG0sC))
* M. Labbé and F. Michaud, “[Memory management for real-time appearance-based loop closure detection](https://introlab.3it.usherbrooke.ca/mediawiki-introlab/images/f/f0/Labbe11memory.pdf),” in _Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems_, 2011, pp. 1271–1276. ([IEEE Xplore](http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6094602)) ([Google Scholar](https://scholar.google.com/citations?view_op=view_citation&hl=en&user=G3BrBkMAAAAJ&citation_for_view=G3BrBkMAAAAJ:u5HHmVD_uO8C))
* M. Labbé and F. Michaud, “[Appearance-Based Loop Closure Detection for Online Large-Scale and Long-Term Operation](https://introlab.3it.usherbrooke.ca/images/b/bc/TRO2013.pdf),” in _IEEE Transactions on Robotics_, vol. 29, no. 3, pp. 734-745, 2013. ([IEEE Xplore](http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6459608)) ([Google Scholar](https://scholar.google.com/citations?view_op=view_citation&hl=en&user=G3BrBkMAAAAJ&citation_for_view=G3BrBkMAAAAJ:u-x6o8ySG0sC))
* M. Labbé and F. Michaud, “[Memory management for real-time appearance-based loop closure detection](https://introlab.3it.usherbrooke.ca/images/f/f0/Labbe11memory.pdf),” in _Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems_, 2011, pp. 1271–1276. ([IEEE Xplore](http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6094602)) ([Google Scholar](https://scholar.google.com/citations?view_op=view_citation&hl=en&user=G3BrBkMAAAAJ&citation_for_view=G3BrBkMAAAAJ:u5HHmVD_uO8C))
* Visit [RTAB-Map's page on IntRoLab](https://introlab.3it.usherbrooke.ca/mediawiki-introlab/index.php/RTAB-Map) for detailed information on the loop closure detection approach and related datasets.

## Install
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* Visit the [wiki](https://github.com/introlab/rtabmap/wiki).
* Ask a question on [RTAB-Map Forum](http://official-rtab-map-forum.206.s1.nabble.com/) (**New address! August 9, 2021**).
* Post an [issue on GitHub](https://github.com/introlab/rtabmap/issues)
* For the loop closure detection approach, visit [RTAB-Map on IntRoLab website](https://introlab.3it.usherbrooke.ca/mediawiki-introlab/index.php/RTAB-Map)
* For the loop closure detection approach, visit [RTAB-Map on IntRoLab website](https://introlab.3it.usherbrooke.ca/index.php/RTAB-Map)
* Enabled [Github Discussions](https://github.com/introlab/rtabmap/discussions) (**New! November 2022**)

**ROS**
Expand All @@ -61,9 +61,9 @@ RTAB-Map App on [Google Play Store](https://play.google.com/store/apps/details?i
This website uses Google Analytics. See their Privacy Policy [here](https://support.google.com/analytics/answer/6004245?hl=en).

## Author
* [Mathieu Labbé](https://introlab.3it.usherbrooke.ca/mediawiki-introlab/index.php?title=Mathieu_Labbe&setlang=en)
* [RTAB-Map's page at IntRoLab](http://introlab.3it.usherbrooke.ca/mediawiki-introlab/index.php/RTAB-Map)
* [Papers](https://introlab.3it.usherbrooke.ca/mediawiki-introlab/index.php/RTAB-Map#Publications)
* [Mathieu Labbé](https://introlab.3it.usherbrooke.ca/index.php?title=Mathieu_Labbe&setlang=en)
* [RTAB-Map's page at IntRoLab](http://introlab.3it.usherbrooke.ca/index.php/RTAB-Map)
* [Papers](https://introlab.3it.usherbrooke.ca/index.php/RTAB-Map#Publications)
* Similar projects: [Find-Object](http://introlab.github.io/find-object/)
* If you find this project useful and to help me keeping this project updated, you can buy me a cup of coffee with the link below :P. It is also nice to receive new sensors to test with and even supporting them in RTAB-Map for quick SLAM demonstrations (e.g., stereo cameras, RGB-D cameras, 2D/3D LiDARs). Thanks [Stereolabs](https://www.stereolabs.com/) for the [ZED](https://www.stereolabs.com/zed/specs/), thanks Walt (with Tango coupon discount) and Google for [Google Tango Development Kits](https://store.google.com/product/tango_tablet_development_kit), thanks [Luxonis](https://www.luxonis.com/) for OAK-D camera and thanks to all contributors (for donations, reporting bugs, helping me fixing bugs or making pull requests).

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### July 2017
* New version 0.13 of RTAB-Map Tango. See it on [play store](https://play.google.com/store/apps/details?id=com.introlab.rtabmap&hl=en).
* I uploaded a [presentation](https://introlab.3it.usherbrooke.ca/mediawiki-introlab/images/3/31/Labbe2015ULaval.pdf) that I did in 2015 at Université Laval in Québec! A summary of RTAB-Map as a RGBD-SLAM approach:
* I uploaded a [presentation](https://introlab.3it.usherbrooke.ca/images/3/31/Labbe2015ULaval.pdf) that I did in 2015 at Université Laval in Québec! A summary of RTAB-Map as a RGBD-SLAM approach:

<img src="https://raw.githubusercontent.com/wiki/introlab/rtabmap/doc/Labbe2015ULavalOverview.jpg" alt="RTAB-Map overview" width="400">

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### June 2014

* I'm glad to announce that my paper submitted to [IROS 2014](http://www.iros2014.org/) was accepted! [This paper](https://introlab.3it.usherbrooke.ca/mediawiki-introlab/images/e/eb/Labbe14-IROS.pdf) explains in details how RGB-D mapping with RTAB-Map is done. Results shown in this paper can be reproduced by the [Multi-session mapping](https://github.com/introlab/rtabmap/wiki/Multi-session) tutorial:
* I'm glad to announce that my paper submitted to [IROS 2014](http://www.iros2014.org/) was accepted! [This paper](https://introlab.3it.usherbrooke.ca/images/e/eb/Labbe14-IROS.pdf) explains in details how RGB-D mapping with RTAB-Map is done. Results shown in this paper can be reproduced by the [Multi-session mapping](https://github.com/introlab/rtabmap/wiki/Multi-session) tutorial:

<a href="https://github.com/introlab/rtabmap/wiki/Multi-session"><img src="https://raw.githubusercontent.com/wiki/introlab/rtabmap/doc/Tutorials/MultiSession/3.png" alt="Multi-session mapping" width="600"></a>

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<a href="http://www.youtube.com/watch?v=1dImRinTJSE"><img src="https://raw.githubusercontent.com/wiki/introlab/rtabmap/doc/video_screenshots/newcollegeomni.jpeg" alt="video" title="video"></a>

* More loop closure detection videos [here](http://introlab.3it.usherbrooke.ca/mediawiki-introlab/index.php/RTAB-Map).
* More loop closure detection videos [here](http://introlab.3it.usherbrooke.ca/index.php/RTAB-Map).

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