unknownfreeoccupied--ufomap/ufomap

UFOMap: An Efficient Probabilistic 3D Mapping Framework That Embraces the Unknown

UFOMap is an effienct probabilistic 3D mapping framework with an explicit representation of unknown space.

Table of Contents

Please see the Wiki for how to install and use UFOMap.

1. Setup
2. Tutorials
3. ROS Tutorials
4. Advanced ROS Tutorials
5. Performance
6. Example Outputs
7. Data Repository
8. API

Credits

Paper

• IEEE
• ArXiv

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.

@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