RTAB-Map · OAK-D Lite
3D map
The coloured point cloud the rover has built of its surroundings, live from the robot. Drag to orbit, right-drag to pan, scroll to zoom. The filters change what you see, not what the robot keeps.
Connecting to the robot…
- Shown
- —
- Removed
- —
- Height span
- —
- Cloud
- —
- Robot stamp
- —
- Bridge
- Connecting
Getting a better map
1.Sweep, do not wander
Park where the rover can see the room and press Sweep 360° on the Control page. A slow turn in place paints every wall; RTAB-Map adds a keyframe every 3° of rotation.
2.Then move in short legs
A new vantage point every metre fills what the first spot could not see. Stop between legs: the map grows on motion, a still rover adds nothing.
3.Trust ends at 3.5 m
The OAK-D Lite has a 7.5 cm baseline. Beyond 3.5 m each point is centimetres off and the assembler ignores it, so bring the rover to what you want mapped.
4.Light the room
Stereo depth needs texture. Glossy tiles and blank white walls give it nothing; a lamp on and a few objects in view give it everything.
A new map starts on every power-on. To start over without rebooting, use New map on the Control page; the old cloud is not kept.