# RTAB-Map - 3D LiDAR Scanner — Open Source Visual/LiDAR SLAM > Open source SLAM app for real-time 3D environment scanning and mapping. (iPhone/iPad app by Mathieu Labbe.) - Source: https://appshunter.io/ios/app/rtab-map-3d-lidar-scanner/id1564774365 (this page in markdown: same URL + `.md`) - Developer: [Mathieu Labbe](https://appshunter.io/developer/1564774367) - Category: Utilities, Productivity - Price: Free - Rating: 4.70/5 from 35 App Store ratings · 11 written reviews indexed - Age rating: 4+ - Requires: iOS 14.3 · 19 MB - Languages: American English - Released: 2021-06-08 - Data updated: 2026-08-12 - Monetization: free - User reviews in markdown: https://appshunter.io/ios/app/rtab-map-3d-lidar-scanner/id1564774365/reviews.md ## What is RTAB? RTAB-Map (Real-Time Appearance-Based Mapping) is an Open Source LiDAR / RGB-D / Stereo Graph-Based SLAM (Simultaneous Localization and Mapping) approach based on an online 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 in real-time. An optional memory management approach can be 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. ARKit's visual inertial odometry (VIO) is used as the SLAM front-end for RTAB-Map (the SLAM back-end). * Note that unlike other scanning apps that optimize the map only after mapping, with RTAB-Map you get loop closure detection and map optimization online so you can have a live feedback to know when you have enough constraints in the map for good global optimization before stopping the scan. *** 3D reconstruction available only with LiDAR sensor. Features: * Online 3D scanning/mapping of the environment. * Online loop closure detection and map correction. * Save in DB format (RTAB-Map desktop and rtabmap_ros format). * Export in PLY, LAS or OBJ. * Multi-session mapping (save and continue later). * Use Apriltags to help finding loop closures in textureless environments. * Mixed AR/VR First-Person in visualization mode. * Raw ARKit data recording (up to 60 Hz!), useful to record long sessions without comprising battery life. ## Key features - Online 3D scanning and mapping - Loop closure detection and map correction - Save maps in DB format - Export in PLY, LAS, or OBJ - Multi-session mapping - AR/VR visualization mode ## Recent user reviews (10 of 11) All indexed reviews: https://appshunter.io/ios/app/rtab-map-3d-lidar-scanner/id1564774365/reviews.md ### 5/5 — this is awesome *2026-02-07* this is quite futuristic :D ### 5/5 — Best-in-Class LiDAR Scanning — Powerful, Truly Free, Worth the Learning Curve *2025-12-27* I’ve been using RTAB-Map for a few years now, and it’s easily one of the most capable 3D LiDAR scanning apps on the App Store. There’s a bit of a learning curve, but that’s because it’s a genuinely advanced, flexible tool—not a watered-down “one-button” scanner. After trying many competing apps, this is the one I keep coming back to: the results are excellent, the feature set is deep, and it’s truly free all the way through. Huge thanks to the developers for the hard work and for making something this powerful accessible to everyone. /s/AG:AI–G52T ### 5/5 — Perfect for iPad Pro 13 *2025-04-01, version 0.21.11* Mapping is perfect. By the way, can I Localize my current pose with this app.? ### 5/5 — My scans are bad - any tip? *2024-03-30* I tired this app often but I always experience drift and misalignments in the mesh Any tip? The video here looks so brilliant ### 5/5 — The perfect 3d scanning tool *2023-05-04* If you’re looking for a 3d scanner app, stop here! You’ve found it. I would give this 6 stars if I could. RTAB-Map is fabulous. It does the job and gets out of the way. No ads, no accounts, no spyware. You open it and it just works. Simple data formats, easy sharing. What a refreshingly straightforward tool—thank you Mathieu! ### 5/5 — Nice open source app with good customisation options *2023-02-07* Was very eager to get a LiDAR Scanner app but given its capability to map the real world accurately I didn’t want to hand those files off to some random company with a profit motive to use my data. This app is good - you can customise so much about the scans, the optimisation, the filters the viewing perspectives etc. Does everything I want it to. I do wish it utilised the full 120Hz of the screen but that is not a must have anyways. Thank you so much for this project. ### 5/5 — Super! *2022-06-22, version 0.20.19* Ten program jest super. Szukałem czegoś do skanowania a on jest mega. Zapłacił bym za lepsza dokładność. Czy da się robić skan makro ? ### 4/5 — Point cloud export? *2021-08-31* Exactly what I’ve been looking for…almost. I’m a land surveyor and have been waiting for a self correcting scan app. If able, please provide colorized point cloud export option. This app could prove extremely helpful with that option. ### 5/5 — Best 3D scanning app *2021-08-16, version 0.20.12* - Full scanning customisation - Loop closure for precision - Super friendly UI Fully featured, beats everything else. ### 5/5 — I’ve tried them all, this is the BOSS *2021-07-06* There is no better 3D scanning app for the real 3D scan enthusiast. I have tried all 20 or so of them, with full feature unlocks. The only downside is that big scans need lots of RAM, so go ahead and get yourself a tablet with at least 16GB of RAM. otherwise, it will be unstable and keep closing on you without saving. I’ve had a lot of great scans get lost. But the scans that didn’t get erased are insane. Loop closure is so crazy. ## Frequently asked questions about RTAB ### What is RTAB-Map used for? RTAB-Map is used for real-time 3D scanning and mapping of environments using LiDAR or RGB-D sensors. It employs SLAM techniques for simultaneous localization and mapping, providing online loop closure detection and map optimization. ### Can RTAB-Map create 3D reconstructions? Yes, 3D reconstruction is available with RTAB-Map, but it is exclusively supported when using a LiDAR sensor. ### What file formats can RTAB-Map export? RTAB-Map allows you to export your scanned maps in PLY, LAS, or OBJ formats. You can also save them in DB format compatible with RTAB-Map desktop and rtabmap_ros. ### Does RTAB-Map offer live feedback during scanning? Yes, RTAB-Map provides live feedback during scanning. You get loop closure detection and map optimization online, allowing you to see the map's progress and know when sufficient constraints are in place for good global optimization. ### How does RTAB-Map handle large-scale environments? For large-scale environments, RTAB-Map can use an optional memory management approach. This limits the number of locations used for loop closure detection and graph optimization, ensuring real-time constraints are respected. ### What devices is RTAB-Map compatible with? RTAB-Map is compatible with iPhone, iPad, and iPod devices. It utilizes ARKit's visual inertial odometry as its SLAM front-end. ### How often is RTAB-Map updated? The latest version of RTAB-Map is 0.22.1, which was last updated on December 23, 2025. This indicates a recent update, suggesting ongoing development and support. ### Is RTAB-Map free to use? Yes, RTAB-Map is available for free. It does not have in-app purchases or advertisements, making it entirely free for users. ## Version history (last 5 releases) ### 0.22.1 — 2025-12-23 Same as 0.22.0, re-uploaded for App Store's Age Ratings policy updates. ### 0.22.0 — 2025-06-02 * Depth confidence can now be changed after scanning, so no more worries about recording too much or too less data. * Added SIFT/SURF feature types. * Added depth bleeding filtering option. * Fixed rendering when exporting mesh with texture size greater than 4096. ### 0.21.11 — 2025-03-13 * Fixed scale estimation of markers that made harder to accept some marker detections. * Added option to export point cloud in LAZ. * Added option to colorize polygons not having texture. * OBJ exported with vertex color if related option is enabled. * Added VR measuring tool available after assembling optimized mesh. ### 0.21.8 — 2024-10-14 0.21.8: * Moved "Depth Confidence" setting under Mapping settings to avoid confusion of what is actually saved in database (https://github.com/introlab/rtabmap/issues/1355) 0.21.7: * Added ARKit jumps filtering for better results. * Fixed some stability issues. * Ability to export point cloud in LAS format. * Raw ARKit data recording mode (up to 60 Hz!), useful to record long sessions without comprising battery life. * Refer to https://github.com/introlab/rtabmap/pull/1340 for details. ### 0.21.7 — 2024-10-07 * Added ARKit jumps filtering for better results. * Fixed some stability issues. * Ability to export point cloud in LAS format. * Raw ARKit data recording mode (up to 60 Hz!), useful to record long sessions without comprising battery life. * Refer to https://github.com/introlab/rtabmap/pull/1340 for details. ## Apps similar to RTAB | App | Rating | Price | Category | | --- | --- | --- | --- | | [Recon-3D](https://appshunter.io/ios/app/recon-3d/id1594797748) | 4.8 (275) | Free | Utilities | | [LiDAR Vision and Ranging](https://appshunter.io/ios/app/lidar-vision-and-ranging/id6744048685) | 5.0 (1) | Free | Utilities | | [LiDAR Pointer](https://appshunter.io/ios/app/lidar-pointer/id1555423445) | 3.3 (8) | Free | Utilities | | [PIX4Dcatch: 3D scanner](https://appshunter.io/ios/app/pix4dcatch-3d-scanner/id1511483044) | 4.7 (262) | Free | Utilities | | [SiteScape: LiDAR Scanner & CAD](https://appshunter.io/ios/app/sitescape-lidar-scanner-and-cad/id1524700432) | 4.7 (932) | Free | Utilities | | [LiDAR View](https://appshunter.io/ios/app/lidar-view/id6466363306) | 3.4 (17) | Free | Utilities | ## More apps by Mathieu Labbe - [MapIt 3D Scanner](https://appshunter.io/ios/app/mapit-3d-scanner/id1582875485) All apps by Mathieu Labbe: https://appshunter.io/developer/1564774367 ## Related topics [downtowndc d360](https://appshunter.io/ios/topics/downtowndc-d360) · [cgfx](https://appshunter.io/ios/topics/cgfx) · [anytype](https://appshunter.io/ios/topics/anytype) --- *Data collected daily from the US App Store and indexed by [AppsHunter](https://appshunter.io/). User reviews are verbatim App Store reviews. Ratings, prices and chart positions refresh continuously; this snapshot is from 2026-08-12.*