Online RGBD SLAM with a Kinect

Online Simultaneous Localization and Mapping with RTAB-Map (Real-Time Appearance-Based Mapping) and TORO (Tree-based netwORk Optimizer).

Project page: http://introlab.github.io/rtabmap
Laboratory page: https://introlab.3it.usherbrooke.ca

Technology used:
-RTAB-Map (http://introlab.github.io/rtabmap).
-TORO (https://www.openslam.org/toro.html).
-ROS for the visualization (http://www.ros.org/wiki/rviz).
-PCL library (http://pointclouds.org/) to manipulate the point clouds.
-Openni (http://en.wikipedia.org/wiki/OpenNI) for data acquisition from the Kinect.
Note that PCL and Openni are used from their respective ROS stack (http://www.ros.org/wiki/pcl and http://www.ros.org/wiki/openni_launch).