diff --git a/pkgs/applications/video/rtabmap/default.nix b/pkgs/applications/video/rtabmap/default.nix
index 200fab274339..b7491d1dd48c 100644
--- a/pkgs/applications/video/rtabmap/default.nix
+++ b/pkgs/applications/video/rtabmap/default.nix
@@ -27,28 +27,15 @@
 
 stdenv.mkDerivation rec {
   pname = "rtabmap";
-  version = "0.21.0";
+  version = "0.21.4";
 
   src = fetchFromGitHub {
     owner = "introlab";
     repo = "rtabmap";
     rev = "refs/tags/${version}";
-    hash = "sha256-1xb8O3VrErldid2OgAUMG28mSUO7QBUsPuSz8p03tSI";
+    hash = "sha256-HrIATYRuhFfTlO4oTRZo7CM30LFVyatZJON31Fe4HTQ=";
   };
 
-  patches = [
-    # Fix build with g2o 20230806
-    (fetchpatch {
-      url = "https://github.com/introlab/rtabmap/commit/85cc6fe3c742855ad16c8442895e12dbb10b6e8b.patch";
-      hash = "sha256-P6GkYKCNwe9dgZdgF/oEhgjA3bJnwXFWJCPoyIknQCo=";
-    })
-    # Fix typo in previous patch
-    (fetchpatch {
-      url = "https://github.com/introlab/rtabmap/commit/c4e94bcdc31b859c1049724dbb7671e4597d86de.patch";
-      hash = "sha256-1btkV4/y+bnF3xEVqlUy/9F6BoANeTOEJjZLmRzG3iA=";
-    })
-  ];
-
   nativeBuildInputs = [ cmake pkg-config wrapQtAppsHook wrapGAppsHook ];
   buildInputs = [
     ## Required