# RTAB-Map > Real-Time Appearance-Based Mapping Canonical page: [https://chrome-stats.com/d/com.introlab.rtabmap](https://chrome-stats.com/d/com.introlab.rtabmap) ## Overview - **ID:** `com.introlab.rtabmap` - **Platform:** Android - **Type:** Android app - **Status:** Removed - **Publisher:** Mathieu Labbé - **Category:** TOOLS - **Downloads:** 4,072 - **Rating:** 4.77 / 5 (90 ratings) - **Last updated:** 2018-10-24 - **First published:** 2016-02-15 - **Publisher country:** US - **Data as of:** 2026-09-30 - **Store listing:** [Google Play Store](https://play.google.com/store/apps/details?id=com.introlab.rtabmap) - **Website:** [http://introlab.github.io/rtabmap/](http://introlab.github.io/rtabmap/) - **Privacy policy:** [http://introlab.github.io/rtabmap/index.html#privacy-policy](http://introlab.github.io/rtabmap/index.html#privacy-policy) ## Description RTAB-Map (Real-Time Appearance-Based Mapping) is an Open Source RGB-D Graph-Based SLAM approach based on an incremental appearance-based loop closure detector. The loop closure detector uses a bag-of-words approach to determinate how likely a new image comes from a previous location or a new location. When a loop closure hypothesis is accepted, a new constraint is added to the map's graph, then a graph optimizer minimizes the errors in the map. A memory management approach is used to limit the number of locations used for loop closure detection and graph optimization, so that real-time constraints on large-scale environnements are always respected.

Model of the featured video on Sketchfab here: https://skfb.ly/6nryX

For questions, ask on the forum or on Github: http://introlab.github.io/rtabmap/#troubleshooting

*** It works only on Project Tango

Features:
* Online 3D scanning/mapping of the environment
* Online loop closure detection and map correction
* Save in DB format (RTAB-Map desktop format)
* Export in PLY or OBJ (with textures up to 720p)
* Multi-session mapping (save and continue later)
* Localization-only mode (in a previous session)
* Trajectory mode where point clouds are not saved (similar to Area Learning)
* Post-processing options (e.g., use Bundle Adjustment to align textures)
* Added "Settings->Mapping->Save GPS" option (default disabled) to save GPS coordinates in the database. See issue #226 on project's page for more info. ## Similar extensions and apps - [RAPHAL AR](https://chrome-stats.com/d/com.geofit.raphalarvisualizer) — 10 users - [Raphal](https://chrome-stats.com/d/com.geofit.raphalmobile) — 1,046 users - [ROVR Network](https://chrome-stats.com/d/network.rovr.app) — 1,744 users, 4.60 / 5 - [Raphal](https://chrome-stats.com/d/com.geofit.raphal_gui) — 364 users - [T-MAP pro](https://chrome-stats.com/d/com.iasmsoft.tmap.pro) — 2 users - [T-MAP](https://chrome-stats.com/d/com.iasmsoft.tmap) — 2,652 users - [KickTheMap](https://chrome-stats.com/d/com.KickTheMap.Scanner) — 2,498 users - [CorectiAR](https://chrome-stats.com/d/com.orthopractis.corectiar) - [Object (RE) Oriented Debris](https://chrome-stats.com/d/com.ChiaraPassa.ObjectREOrientedDebris) — 34 users - [Mapitare Easy Tracker](https://chrome-stats.com/d/com.mapitare.safari) — 5,904 users - [ARLink](https://chrome-stats.com/d/com.arlink.app) — 19 users - [blendartrack](https://chrome-stats.com/d/com.cgtinker.Retargeter) — 36,078 users, 4.37 / 5 --- Source: [Chrome-Stats](https://chrome-stats.com/d/com.introlab.rtabmap)