RTAB vs Fuse 3d

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.

Fuse is a free 3D scanning app for iPhone that uses the hardware you already own. Seven scanning modes, each suited to different subjects and hardware: • LiDAR Mesh — fast, real-time mesh reconstruction using your iPhone's LiDAR scanner • Point Cloud — dense point cloud capture for precise spatial data • Gaussian Splat — photorealistic 3D Gaussian Splatting reconstruction • Photogrammetry — multi-photo 3D reconstruction, works on any iPhone • TrueDepth — high-precision face and close-range object scanning using the front face-id camera • CAD Scan — structured capture aimed at accurate dimensional models • Hybrid — combines rear LiDAR for overall shape with front TrueDepth for fine detail and RGB texture, for the most complete scan Export your scans as PLY, OBJ, STL, or USDZ for use in CAD software, 3D printing, AR/VR, or game engines. Fuse3D runs entirely on-device using Apple's ARKit, LiDAR, and TrueDepth sensors. Hardware Limitations: LiDAR-based modes require an iPhone/iPad Pro model with a LiDAR scanner. TrueDepth modes require Face ID hardware. Photogrammetry works on any supported device.