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https://github.com/ethz-asl/maplab

A Modular and Multi-Modal Mapping Framework
https://github.com/ethz-asl/maplab

mapping not-matlab slam

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A Modular and Multi-Modal Mapping Framework

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README 

        



*Ubuntu 18.04+ROS melodic*: [![Build Status](https://jenkins.asl.ethz.ch/buildStatus/icon?job=maplab_nightly)](https://jenkins.asl.ethz.ch/job/maplab_nightly)

[![Documentation Status](https://jenkins.asl.ethz.ch/buildStatus/icon?job=maplab_docs&subject=docs)](https://jenkins.asl.ethz.ch/job/maplab_docs)



## News

 * **November 2022:** maplab 2.0 initial release with new features and sensors. [Paper](https://arxiv.org/pdf/2212.00654.pdf).

 * **July 2018:** Check out our release candidate with improved localization and lots of new features! [Release 1.3](https://github.com/ethz-asl/maplab/releases/tag/1.3).

 * **May 2018:** maplab was presented at [ICRA](https://icra2018.org/) in Brisbane. [Paper](https://arxiv.org/abs/1711.10250) / [Initial Release](https://github.com/ethz-asl/maplab/releases/tag/initial_release).



## Description



This repository contains **maplab 2.0**, an open research-oriented mapping framework, written in C++,  for multi-session and multi-robot mapping. For the original maplab release from 2018 the source code and documentation is available [here](https://github.com/ethz-asl/maplab/releases/tag/1.3).



**For documentation, tutorials and datasets, please visit the [wiki](https://maplab.asl.ethz.ch/index.html).**



## Features



### Robust visual-inertial odometry with localization

 



### Large-scale multisession mapping and optimization

 



### Multi-robot mapping and online operation

 



### Dense reconstruction

 



### A research platform extensively tested on real robots

 



## Installation and getting started



The following articles help you with getting started with maplab and ROVIOLI:



- [Installation on Ubuntu 18.04 or 20.04](https://maplab.asl.ethz.ch/docs/master/pages/installation/A_Installation-Ubuntu.html)

- [Introduction to the maplab framework](https://maplab.asl.ethz.ch/docs/master/pages/overview_and_introduction/A_The-Maplab-Framework.html)

- [Running ROVIOLI in VIO mode](https://maplab.asl.ethz.ch/docs/master/pages/tutorials-rovioli/B_Running-ROVIOLI-in-VIO-mode.html)

- [Basic console usage](https://maplab.asl.ethz.ch/docs/master/pages/tutorials-maplab/basics/A_Basic-Console-Usage.html)

- [Console map management](https://maplab.asl.ethz.ch/docs/master/pages/tutorials-maplab/basics/C_Console-map-management.html)



**More detailed information can be found in the [wiki pages](https://maplab.asl.ethz.ch/index.html).**



## Research Results



The maplab framework has been used as an experimental platform for numerous scientific publications. For a complete list of publications please refer to [Research based on maplab](https://maplab.asl.ethz.ch/docs/master/pages/overview_and_introduction/C_Related-Research.html#additional-citations).



## Citing



Please cite the following papers [maplab](https://arxiv.org/abs/1711.10250) and [maplab 2.0](https://arxiv.org/abs/2212.00654) when using our framework for your research:



```bibtex

@article{schneider2018maplab,

  title={{maplab: An Open Framework for Research in Visual-inertial Mapping and Localization}},

  author={T. Schneider and M. T. Dymczyk and M. Fehr and K. Egger and S. Lynen and I. Gilitschenski and R. Siegwart},

  journal={IEEE Robotics and Automation Letters},

  volume={3},

  number={3},

  pages={1418--1425},

  year={2018},

  doi={10.1109/LRA.2018.2800113}

}

```



```bibtex

@article{cramariuc2022maplab,

  title={{maplab 2.0 – A Modular and Multi-Modal Mapping Framework}},

  author={A. Cramariuc and L. Bernreiter and F. Tschopp and M. Fehr and V. Reijgwart and J. Nieto and R. Siegwart and C. Cadena},

  journal={IEEE Robotics and Automation Letters},

  volume={8},

  number={2},

  pages={520-527},

  year={2023},

  doi={10.1109/LRA.2022.3227865}

}

```



### Additional Citations



Certain components of maplab are directly based on [other publications](https://maplab.asl.ethz.ch/docs/master/pages/overview_and_introduction/B_Citing-Maplab).



## Credits



 * Thomas Schneider

 * Marcin Dymczyk

 * Marius Fehr

 * Kevin Egger

 * Simon Lynen

 * Mathias Bürki

 * Titus Cieslewski

 * Timo Hinzmann

 * Mathias Gehrig

 * Florian Tschopp

 * Andrei Cramariuc

 * Lukas Bernreiter



For a complete list of contributors, have a look at [CONTRIBUTORS.md](https://github.com/ethz-asl/maplab/blob/master/CONTRIBUTORS.md)