Table 5.

List of RTAB-Map parameters.

Parameter	Description	Range	Default Value
TimeThr	Maximum time to update a map, in milliseconds with 0 as unlimited time	0.0–1.0	0
MemoryThr	Maximum number of nodes in the work memory, where 0 means unlimited number of nodes	0.0 - 1.0	0
DetectionRate	Detection ratio of images that RTAB-Map filters, value in Hz	0.1–10.0	1.0
ImageBufferSize	Buffer size to save the data waiting for processing	0–10	1
MaxRetrieved	Maximum amount of localizations returned at a time by the long-term memory	0–20	2
CreateIntermediateNodes	Making of not inner nodes into the loop closure	true/false	false
LoopThr	Time threshold to execute loop closure	0.0–1.0	0.11
VarianceIgnored	Ignore or not the variation of the restrictions	true/false	false
FilteringStrategy	Filtering defined for odometer data, two different strategies can be used, 0 means no filter, 1 means Kalman filter	0/1	0