Template for contributions to technical reports of the HPI.
This hpitr is class to create technical reports at the
Hasso Plattner Institute, Potsdam in conjunction with the Universitätsverlag
Potsdam. To maintain a unified appearance, this class provides macrotypographic
(like paper size and general layout) and microtypographic (like fonts and their
This paper implements Simultaneous Localization and Mapping (SLAM) technique to construct a map of a given environment. A Real Time Appearance Based Mapping (RTAB-Map) approach was taken for accomplishing this task. Initially, a 2d occupancy grid and 3d octomap was created from a provided simulated environment. Next, a personal simulated environment was created for mapping as well. In this appearance based method, a process called Loop Closure is used to determine whether a robot has seen a location before or not. In this paper, it is seen that RTAB-Map is optimized for large scale and long term SLAM by using multiple strategies to allow for loop closure to be done in real time and the results depict that it can be an excellent solution for SLAM to develop robots that can map an environment in both 2d and 3d.