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danielduberg edited this page May 4, 2021 · 7 revisions

Real-time Volumetric Mapping

Image from real-time mapping of the freiburg3_long_office_household sequence, at 2 mm voxel size running at 2 Hz. Real-time Volumetric Mapping 2

Image from real-time mapping of the freiburg3_long_office_household sequence, at 4 mm voxel size running at 2 Hz. NOTE: This was from an earlier version of UFOMap that had a color bug (the white dots in the image). Since then the color bug has been fixed and the integration speed has increased by at least 2x, enabling real-time colored volumetric mapping at 2 mm as you can see above. Real-time Volumetric Mapping

If you use UFOMap in a scientific publication, please cite the following paper:
@article{duberg2020ufomap,
  author={Daniel Duberg and Patric Jensfelt},
  journal={IEEE Robotics and Automation Letters}, 
  title={{UFOMap}: An Efficient Probabilistic {3D} Mapping Framework That Embraces the Unknown}, 
  year={2020},
  volume={5},
  number={4},
  pages={6411-6418},
  doi={10.1109/LRA.2020.3013861}
}

Setup

Tutorials

ROS Tutorials

Advanced ROS Tutorials

Performance

Example Outputs

Data Repository

API

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