OctoMap github：OctoMap

An Efficient Probabilistic 3D Mapping Framework Based on Octrees

The OctoMap library[1] implements a 3D occupancy grid mapping approach, providing data structures and mapping algorithms in C++ particularly suited for robotics. The map implementation is based on an octree and is designed to meet the following requirements:

Full 3D model. The map is able to model arbitrary environments without prior assumptions about it. The representation models occupied areas as well as free space. Unknown areas of the environment are implicitly encoded in the map. While the distinction between free and occupied space is essential for safe robot navigation, information about unknown areas is important, e.g., for autonomous exploration of an environment. Updatable. It is possible to add new information or sensor readings at any time. Modeling and updating is done in a probabilistic fashion. This accounts for sensor noise or measurements which result from dynamic changes in the ...