What are recommend system specs for getting good results?

[Frippen]

[matlabbe]

If you want to use VO from rtabmap, an intel processor is recommended. Ideally, vo should run at least at 10 Hz.

If you don't use VO from rtabmap, just the mapping and loop closure part, it can work on a RPI4 (even a RPI3 back in the days). However, to map large spaces (not just a single room), you may need more RAM.

If you want to use the UI, a GPU is recommended.