diff --git a/ports/rtabmap/0005-fix-report-without-qt.patch b/ports/rtabmap/0005-fix-report-without-qt.patch
new file mode 100644
index 00000000000000..28303117fd18ba
--- /dev/null
+++ b/ports/rtabmap/0005-fix-report-without-qt.patch
@@ -0,0 +1,17 @@
+diff --git a/tools/Report/CMakeLists.txt b/tools/Report/CMakeLists.txt
+index 790a6a61..9e5f2ab2 100644
+--- a/tools/Report/CMakeLists.txt
++++ b/tools/Report/CMakeLists.txt
+@@ -11,8 +11,11 @@ TARGET_LINK_LIBRARIES(report ${LIBRARIES})
+ 
+ SET_TARGET_PROPERTIES(report PROPERTIES 
+     OUTPUT_NAME ${PROJECT_PREFIX}-report
+-    COMPILE_DEFINITIONS "WITH_QT"
+ )
++
++IF(WITH_QT AND (QT4_FOUND OR Qt5_FOUND OR Qt6_FOUND))
++    SET_TARGET_PROPERTIES(report PROPERTIES COMPILE_DEFINITIONS "WITH_QT")
++ENDIF(WITH_QT AND (QT4_FOUND OR Qt5_FOUND OR Qt6_FOUND))
+     
+ INSTALL(TARGETS report
+ 	RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT runtime
diff --git a/ports/rtabmap/portfile.cmake b/ports/rtabmap/portfile.cmake
index 3f92f28cfdbb71..f72301832605cc 100644
--- a/ports/rtabmap/portfile.cmake
+++ b/ports/rtabmap/portfile.cmake
@@ -2,13 +2,14 @@ vcpkg_from_github(
     OUT_SOURCE_PATH SOURCE_PATH
     REPO introlab/rtabmap
     REF ${VERSION}
-    SHA512 9bcd0f359e0ee8060cf7088761544a3f7d38aadb37df820958f0811aa7b8edbfaf00f00d9472a8bf46261d4e5d868f9c10785263aaabaf374b6e5aa5237d70b0
+    SHA512 92c7709b189886e8de772bcf68b0e04ad79a411f0886c2bf8319d001a6015f197b6fb04ae1b3e9e90a2fbc83f5ecf4e607a631644dfa9453073315344c23ee73
     HEAD_REF master
     PATCHES
         0001-cmakelists-fixes.patch
         0002-fix-link.patch
         0003-multi-definition.patch
         0004-remove-apple-sys-path.patch
+        0005-fix-report-without-qt.patch
 )
 # Will use vcpkg to find these packages
 file(REMOVE_RECURSE
@@ -126,6 +127,7 @@ if("tools" IN_LIST FEATURES)
   vcpkg_copy_tools(
     TOOL_NAMES
         rtabmap-camera
+        rtabmap-cidsims_dataset
         rtabmap-console
         rtabmap-detectMoreLoopClosures
         rtabmap-export
@@ -139,6 +141,7 @@ if("tools" IN_LIST FEATURES)
         rtabmap-euroc_dataset
         rtabmap-cleanupLocalGrids
         rtabmap-globalBundleAdjustment
+        rtabmap-reduceGraph
     AUTO_CLEAN
   )
   if("gui" IN_LIST FEATURES)
diff --git a/ports/rtabmap/vcpkg.json b/ports/rtabmap/vcpkg.json
index 3d3edd81395a4a..acbeee001a0e76 100644
--- a/ports/rtabmap/vcpkg.json
+++ b/ports/rtabmap/vcpkg.json
@@ -1,6 +1,6 @@
 {
   "name": "rtabmap",
-  "version": "0.23.2",
+  "version": "0.23.7",
   "description": "Real-Time Appearance-Based Mapping",
   "homepage": "https://introlab.github.io/rtabmap/",
   "license": null,
diff --git a/scripts/ci.feature.baseline.txt b/scripts/ci.feature.baseline.txt
index e439d88a09b9f2..a0641621034b81 100644
--- a/scripts/ci.feature.baseline.txt
+++ b/scripts/ci.feature.baseline.txt
@@ -1285,7 +1285,6 @@ rsocket:arm64-linux=cascade
 rsocket:arm64-windows=cascade
 rsocket:x86-windows=cascade
 rtabmap:arm64-linux=cascade
-rtabmap:arm64-windows=cascade
 rtabmap[k4w2,openni2](arm | !windows)=cascade
 rtabmap[opencv-cuda](!x64 | android | osx)=cascade
 rtabmap[openmp]:arm64-osx=feature-fails # No openmp on default osx toolchain
diff --git a/versions/baseline.json b/versions/baseline.json
index 2907abbe21a0de..a9305bac42d4fb 100644
--- a/versions/baseline.json
+++ b/versions/baseline.json
@@ -8953,7 +8953,7 @@
       "port-version": 5
     },
     "rtabmap": {
-      "baseline": "0.23.2",
+      "baseline": "0.23.7",
       "port-version": 0
     },
     "rtabmap-res-tool": {
diff --git a/versions/r-/rtabmap.json b/versions/r-/rtabmap.json
index 8b2fa29e60416a..daead111b877b7 100644
--- a/versions/r-/rtabmap.json
+++ b/versions/r-/rtabmap.json
@@ -1,5 +1,10 @@
 {
   "versions": [
+    {
+      "git-tree": "697749cfc4da722dce4e5b5e5b873425cc9b0171",
+      "version": "0.23.7",
+      "port-version": 0
+    },
     {
       "git-tree": "9f2ab528536f58b4eb54ac6404497896857ab463",
       "version": "0.23.2",