https://github.com/ahmed-magdi1/realsense-rtab-vio

Implementation of visual-inertial SLAM using RealSense D455 and RTAB-Map in ROS. Compares ORB and SIFT for feature detection in real-time 3D mapping with loop closure and pose graph optimization on a mobile robot.

3d-mapping d455 loopclosure optimization orb ros rtab-map sift slam visual-inertial-odometry

Last synced: 11 Oct 2025