# 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

![](/files/1xV2fqyCvwmVahN0QRAD)

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

![](/files/QJLEQyWOfrifijmyWpQK)

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

## 3D Mapping 🚩

{% hint style="danger" %}
3D mapping requires a 3D LiDAR and a capable CPU (Intel/AMD x86 recommended)
{% endhint %}

![Seirios RNS mapping the environment in 3D](/files/PdCfG7Vvv7T4eJVHvNCW)

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](/files/-MkaABKAwPu5vMFEHPbk)

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="/files/-MkaAtaIQJtMC3kBjmvB" alt=""></div>

![](/files/-MkaB-0yJBDdsxs3m-63)

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](/files/-MkaBAbE4OA5mi11yfjk)

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


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