Maplab

<img src="https://raw.githubusercontent.com/ethz-asl/maplab/master/docs/pages/logos/maplab_new.png" width="500">

Ubuntu 18.04+ROS melodic:

News

• November 2022: maplab 2.0 initial release with new features and sensors. Paper.
• July 2018: Check out our release candidate with improved localization and lots of new features! Release 1.3.
• May 2018: maplab was presented at ICRA in Brisbane. Paper / 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.

For documentation, tutorials and datasets, please visit the wiki.

Features

Robust visual-inertial odometry with localization

<img src="https://raw.githubusercontent.com/ethz-asl/maplab/master/docs/pages/readme_images/rovio_stairs.gif" width="400"> <img src="https://raw.githubusercontent.com/ethz-asl/maplab/master/docs/pages/readme_images/rviz_cla_vs.gif" width="400">

Large-scale multisession mapping and optimization

<img src="https://raw.githubusercontent.com/ethz-asl/maplab/master/docs/pages/readme_images/largescale.gif" width="400"> <img src="https://raw.githubusercontent.com/ethz-asl/maplab/master/docs/pages/readme_images/cla.png" width="400">

Multi-robot mapping and online operation

<img src="https://raw.githubusercontent.com/ethz-asl/maplab/master/docs/pages/readme_images/arche.jpg" width="400"> <img src="https://raw.githubusercontent.com/ethz-asl/maplab/master/docs/pages/readme_images/multirobot.gif" width="400">

Dense reconstruction

<img src="https://raw.githubusercontent.com/ethz-asl/maplab/master/docs/pages/readme_images/stereo.png" width="400"> <img src="https://raw.githubusercontent.com/ethz-asl/maplab/master/docs/pages/readme_images/pmvs.png" width="400">

A research platform extensively tested on real robots

<img src="https://raw.githubusercontent.com/ethz-asl/maplab/master/docs/pages/readme_images/topomap.png" width="400"> <img src="https://raw.githubusercontent.com/ethz-asl/maplab/master/docs/pages/readme_images/robots.jpg" width="400">

Installation and getting started

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

• Installation on Ubuntu 18.04 or 20.04
• Introduction to the maplab framework
• Running ROVIOLI in VIO mode
• Basic console usage
• Console map management

More detailed information can be found in the wiki pages.

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.

Citing

Please cite the following papers maplab and maplab 2.0 when using our framework for your research:

@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}
}

@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.

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