From 97aa2df29274876e5fe7bb56c7dc865e9dab2f9f Mon Sep 17 00:00:00 2001 From: wehub-resource-sync Date: Mon, 13 Jul 2026 10:26:12 +0000 Subject: [PATCH] docs: preserve upstream English README --- README.en.md | 44 ++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 44 insertions(+) create mode 100644 README.en.md diff --git a/README.en.md b/README.en.md new file mode 100644 index 0000000..b51171c --- /dev/null +++ b/README.en.md @@ -0,0 +1,44 @@ +# UFOMap: An Efficient Probabilistic 3D Mapping Framework That Embraces the Unknown + +UFOMap is an efficient probabilistic 3D mapping framework with an explicit representation of unknown space. + +![UFOMap visualization](https://user-images.githubusercontent.com/6604166/111369561-7bcabd00-8697-11eb-8145-1409ef9709a0.png) + UFOMap with occupied space as colored voxels and unknown space as white transparent voxels. The free space is not visualized here. + +Using UFOMap you will be able to create 3D volumetric maps, containing unknown/free/occupied space, similar to the one below in real-time. The UFOMap maps you create can be used for efficient path/trajectory planning, obstacle avoidance, reconstruction, and more. + +![Real-time Volumetric Mapping](https://user-images.githubusercontent.com/6604166/111788476-6c7a8800-88c0-11eb-9592-86609b9eb57c.png) + Colored UFOMap constructed in real-time (2 Hz) at 2 mm voxel size. + +## Table of Contents +Please see the [Wiki](https://github.com/UnknownFreeOccupied/ufomap/wiki) for how to install and use UFOMap. +1. [Setup](https://github.com/UnknownFreeOccupied/ufomap/wiki/Setup) +2. [Tutorials](https://github.com/UnknownFreeOccupied/ufomap/wiki/Tutorials) +3. [ROS Tutorials](https://github.com/UnknownFreeOccupied/ufomap/wiki/ROS-Tutorials) +4. [Advanced ROS Tutorials](https://github.com/UnknownFreeOccupied/ufomap/wiki/Advanced-ROS-Tutorials) +5. [Performance](https://github.com/UnknownFreeOccupied/ufomap/wiki/Performance) +6. [Example Outputs](https://github.com/UnknownFreeOccupied/ufomap/wiki/Example-Outputs) +7. [Data Repository](https://github.com/UnknownFreeOccupied/ufomap/wiki/Data-Repository) +8. [API](https://github.com/UnknownFreeOccupied/ufomap/wiki/API) + +## Credits +### Paper +* [IEEE](https://ieeexplore.ieee.org/abstract/document/9158399) +* [ArXiv](https://arxiv.org/abs/2003.04749) +### Cite +If you use UFOMap in a scientific publication, please cite the following paper: +* Daniel Duberg and Patric Jensfelt, "UFOMap: An Efficient Probabilistic 3D Mapping Framework That Embraces the Unknown," in IEEE Robotics and Automation Letters, vol. 5, no. 4, pp. 6411-6418, Oct. 2020, doi: 10.1109/LRA.2020.3013861. +```latex +@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} +} +``` +### Videos +* [YouTube Playlist](https://youtube.com/playlist?list=PLoZnKRp2UVom4bv2fUVXgI5VCbuTrfrU3)