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RTAB-Map (Real-Time Appearance-Based Mapping) is a RGB-D, Stereo and Lidar Graph-Based SLAM approach based on an incremental appearance-based loop closure detector. The loop closure detector uses a bag-of-words approach to determine how likely a new image comes from a previous location or a new location. When a loop closure hypothesis is accepted, a new constraint is added to the map’s graph, then a graph optimizer minimizes the errors in the map. A memory management approach is used to...
A single fact determines the starting point of configuration, and that fact can be the same regardless of whether the software is running standalone under a logged-in user's account, or launched from another program with debugger access, or as a service or daemon, or even as a component within a dynamically linked library.