  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.
