# Mapping

Seirios RNS supports multiple mapping algorithms. Jump to the algorithm of interest here on the right panel (desktop view only) ➡️

{% hint style="danger" %}
Please be informed that all mapping modes (except 2D mapping) are disabled by default as they require special hardware configurations. These include **`Automatic mapping`**, **`3D mapping`**, **`RTAB mapping`** and **`ORB-SLAM mapping`** and are indicated with flags 🚩 below
{% endhint %}

## 2D Mapping

The most commonly used mapping algorithm, the cameras mounted on robots populate and generate a map of its surroundings

![](https://3011557067-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-MkBtlBrwlCbBifOLd-h-887967055%2Fuploads%2Fw7FeZxEdx4ZpKEbYQRc0%2FApr-13-2022%2012-43-56.gif?alt=media\&token=179875ba-21be-4ff6-87fa-3909ac6bc1ce)

Users can manually teleoperate the robot, to 'reveal' the map represented by white areas in the map

## Auto Mapping 🚩

Incorporating this feature into Seirios allows users to automatically map large areas without manually driving with virtual controls. The auto-mapping feature was originally developed for a wall-scanning construction project

Automatic mapping without manual controls from users

![](https://3011557067-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-MkBtlBrwlCbBifOLd-h-887967055%2Fuploads%2F69rq3n8xycTpPnDKTmyf%2Fimage.png?alt=media\&token=5714984b-7d80-4062-9014-6a032ebe062c)

{% hint style="danger" %}
Map does not save automatically once mapping is done. Click 'Stop' to prompt the 'save map' model
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## 3D Mapping 🚩

{% hint style="danger" %}
3D mapping requires a 3D LiDAR and a capable CPU (Intel/AMD x86 recommended)
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![Seirios RNS mapping the environment in 3D](https://3011557067-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-MkBtlBrwlCbBifOLd-h-887967055%2Fuploads%2FDf9BWuCTMNavATHSwCCl%2FJan-13-2022%2011-59-32.gif?alt=media\&token=2a6d565c-de9e-4d68-8aaa-6223f7b0a56e)

For higher accuracy, range and better visual representation of environmental features, users can opt to map in 3D. A 2D map will be generated from a 3D map too

## RTAB-MAP 🚩

RTAB-Map (Real-Time Appearance-Based Mapping) is a RGB-D, Stereo and Lidar Graph-Based SLAM approach based on an incremental appearance-based loop closure detector.

![RTABMAP is a mapping algorithm which produces the same 2D map with scan](https://3011557067-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-MkBtlBrwlCbBifOLd-h%2F-Mk_ttpTrn5EXCE4CXhS%2F-MkaABKAwPu5vMFEHPbk%2FUntitled.png?alt=media\&token=e50e17a7-1f42-4edc-93b5-50fe7dc5569c)

As its namesake, it uses real time images to map the environment

## ORB-SLAM Camera Based Mapping 🚩

ORB-SLAM is a keyframe and feature-based Monocular SLAM. It operates in real-time in large environments, being able to close loops and perform camera relocalisation from very different viewpoints.

<div align="center"><img src="https://3011557067-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-MkBtlBrwlCbBifOLd-h%2F-Mk_ttpTrn5EXCE4CXhS%2F-MkaAtaIQJtMC3kBjmvB%2Fezgif-1-38642ec51c2c-2.gif?alt=media&#x26;token=ad6b6a2e-8743-41a5-871b-783d764eecc1" alt=""></div>

![](https://3011557067-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-MkBtlBrwlCbBifOLd-h%2F-Mk_ttpTrn5EXCE4CXhS%2F-MkaB-0yJBDdsxs3m-63%2Fezgif-1-083ccc0a42d5.gif?alt=media\&token=7fb411d0-35b9-488f-bea9-4fdd001dbcfd)

Seirios is able to support mapping with the use of monocular, stereo, and RGB-D cameras. Green 'dots' are features recognised and stored in the map data, generating a 2D map

![Intel RealSense D435 - a depth camera that can be used for ORBSLAM camera based mapping](https://3011557067-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-MkBtlBrwlCbBifOLd-h%2F-Mk_ttpTrn5EXCE4CXhS%2F-MkaBAbE4OA5mi11yfjk%2FUntitled-2.png?alt=media\&token=5d62daa2-de46-4c07-a676-6355b93de762)

{% hint style="warning" %}
Substitutable with similar cameras with depth sensing capabilities
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