RTAB vs ArborTrack

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.

ArborTrack Whether you're logging a few trees in your backyard or managing a professional inventory across dozens of sites, ArborTrack gives you accurate measurements and organized records — no tape measure, no clipboard, no spreadsheet required. MEASURE WITH LiDAR (iPhone Pro / iPad Pro) • DBH (Diameter at Breast Height) — point your camera at the trunk and a measurement ring locks on automatically. Drag to reposition, pinch to fine-tune, then confirm. Supports short trees, shrubs, and multi-stem trunks. • Height — walk-to-measure using the classic 45° sighting method: back up until the treetop sits at roughly 45°, mark your spot and the tree base, and ArborTrack calculates total height from the walked distance and your eye level. • Crown Spread — a two-point AR ruler measures canopy width in two directions, 90° apart. Don't have a LiDAR-equipped device? Every measurement can also be entered manually, so ArborTrack still works as a full tree inventory and organization tool on any iPhone or iPad. BUILT FOR THE FIELD • Works fully offline — no internet connection needed for any measurement tool • Reposition or redo any AR reading without starting over • Measurements are recorded in feet and inches TRACK EVERY TREE • Group trees into projects, with an optional site code to organize by location • Tree IDs assigned automatically in sequence • Record species, condition (good/fair/poor), tree type, and multi-branch status • Attach up to 3 photos per tree • Custom, reusable note chips for fast, consistent field notes • GPS coordinates and UTM captured automatically with every tree • Search and filter your tree list by ID, species, condition, note, or any measurement range • See every tree on a map, color-coded by condition • Track multiple surveyors on a shared device, each with their own height for accurate eye-level calculations WORK YOUR WAY • No account required — everything stays on your device until you choose otherwise • Sign in with email, Apple, or Google to back up your projects to the cloud • Automatic background sync keeps your projects current across your devices and with your team — no manual refresh needed • Share a project with your team, with view-only or edit permissions per person • In-app step-by-step guides for every measurement type EXPORT & REPORT • Export any project to CSV for reporting, GIS import, or client deliverables From a curious homeowner to a certified arborist, ArborTrack keeps your tree data accurate, organized, and easy to share.