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RTABMAP vs Gmapping

asked 2022-03-06 03:35:46 -0600

distro gravatar image

Does RTABmap produce more accurate maps than gmapping? I know they generate different kinds of maps, one which is graph and one which is occupancygrid.

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answered 2022-03-06 23:38:42 -0600

matlabbe gravatar image

updated 2022-03-06 23:44:02 -0600

RTAB-Map is a Graph-SLAM approach, while GMapping is a particle filter. With 2D lidar, they will produce similar maps. In term of accuracy, I will let you test both in your environment as I cannot be the most objective ;). I did some comparisons in this paper (see figure 13), but as a disclaimer, I didn't tune gmapping as I did for rtabmap for that dataset (probably with some gmapping tuning, results would have been better than with the default parameters, same for the other approaches). In indoor small environments, the resulting trajectories would be accurately similar (maybe gmapping is easier to setup at first as its default parameters target directly 2d lidar).

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Asked: 2022-03-06 03:35:46 -0600

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Last updated: Mar 06 '22