University of Twente Student Theses


Component-based Slam in RTAB-Map

Lorente Rogel, A. (2021) Component-based Slam in RTAB-Map.

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Abstract:This project studies modular SLAM, which aims to improve the reusability of SLAM. Most of the related work focus on creating completely new frameworks, which reduces the chances of other researchers and developers to use their designs. For this reason, the main goal of this project is to design and implement a modular SLAM framework, compatible with the state of the art open-source solutions. For this task, RTAB-Map was selected, which is widely used by the community and previously studied in the RaM department. In this project, the modularity issues in RTAB-Map are analyzed to find a possible solution. The main contribution of this project is the design and implementation of a modular SLAM framework, capable of working with RTAB-Map. The design consists of a back-end, which performs the tasks of creating, storing and optimizing the pose-graph. In order to create the pose-graph, the back-end is capable of communicating with an arbitrary number of front-ends. Every front-end is provided with a set of commands to create the entities of the graph. The framework is sensor agnostic and can easily work with any kind of sensor system that uses pose-to-pose or pose-to-landmark constraints.
Item Type:Essay (Master)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Programme:Electrical Engineering MSc (60353)
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