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Ubuntu 18.04+ROS melodic:

• 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.

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.

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.

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.

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}
}

Certain components of maplab are directly based on other publications.

• 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