RTAB-Map (Real-Time Appearance-Based Mapping) is an Open Source LiDAR / RGB-D / Stereo Graph-Based SLAM approach that offers advanced 3D scanning and mapping capabilities. This program utilizes an online incremental appearance-based loop closure detector, which uses a bag-of-words approach to determine the likelihood of a new image coming from a previous location or a new location.

One of the standout features of RTAB-Map is its ability to perform loop closure detection and map optimization in real-time. This means that you can receive live feedback on the quality of your map and know when you have enough constraints for optimal global optimization before stopping the scan. Unlike other scanning apps, RTAB-Map optimizes the map during the mapping process, providing a more efficient and streamlined experience.

With RTAB-Map, you can perform online 3D scanning and mapping of your environment. The program also offers the ability to save your maps in DB format, which is compatible with RTAB-Map desktop and rtabmap_ros format. Additionally, you can export your maps in PLY or OBJ formats for further analysis or visualization.

For those working on larger-scale environments, RTAB-Map includes an optional memory management approach that limits the number of locations used for loop closure detection and graph optimization. This ensures that real-time constraints are always respected, even in complex scenarios.

Please note that the 3D reconstruction feature is only available with a LiDAR sensor.

In summary, RTAB-Map - 3D LiDAR Scanner is a powerful and versatile tool for anyone in need of advanced 3D scanning and mapping capabilities. Its real-time loop closure detection and map optimization, along with its support for multiple formats and optional memory management, make it a valuable asset for professionals and enthusiasts alike.