RTAB vs OpenPlan3D

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.

Scan a room. Get a floor plan. OpenPlan3D Capture turns your iPhone into a room scanner. Walk the room once and Apple RoomPlan's LiDAR builds an accurate floor plan — walls, doors, windows, and furniture detected automatically. REVIEW IN 3D, INSTANTLY Every scan becomes an interactive dollhouse model and a clean 2D plan. Check dimensions, room areas, and detected objects before you export. FINE-TUNE EVERY WALL The built-in editor lets you correct what the scan missed: drag walls with live dimensions, add or move doors and windows, split walls, and label rooms. OPEN IN OPENPLAN3D Send your plan straight to openplan3d.com — the free, open-source floor plan editor — to furnish it with 140+ models, visualize in 3D, and keep designing on any computer. EXPORT ANYWHERE PNG, SVG, DXF, PDF, or USDZ. Bring your plan into CAD tools, share it with clients, or print it. PRIVATE BY DESIGN No account. No signup. No cloud. Your scans stay on your device until you choose to export them. 100% FREE & OPEN SOURCE No paywalls, no premium tier. The full source code is on GitHub. Requires an iPhone or iPad with a LiDAR scanner (iPhone 12 Pro or later Pro models, or Pro iPads). Perfect for real estate agents, contractors, interior designers, architects, landlords, and anyone remodeling, moving, or furnishing a space.