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25 lines
1.5 KiB
Plaintext
25 lines
1.5 KiB
Plaintext
The OctoMap library implements a 3D occupancy grid mapping approach, providing
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data structures and mapping algorithms in C++ particularly suited for robotics.
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The map implementation is based on an octree and is designed to meet the
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following requirements:
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* Full 3D model. The map is able to model arbitrary environments without prior
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assumptions about it. The representation models occupied areas as well as free
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space. Unknown areas of the environment are implicitly encoded in the map.
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While the distinction between free and occupied space is essential for safe
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robot navigation, information about unknown areas is important, e.g., for
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autonomous exploration of an environment.
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* Updatable. It is possible to add new information or sensor readings at any
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time. Modeling and updating is done in a probabilistic fashion. This accounts
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for sensor noise or measurements which result from dynamic changes in the
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environment, e.g., because of dynamic objects.
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* Flexible. The extent of the map does not have to be known in advance. Instead,
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the map is dynamically expanded as needed. The map is multi-resolution so
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that, for instance, a high-level planner is able to use a coarse map, while a
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local planner may operate using a fine resolution.
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close-up views.
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* Compact. The map is stored efficiently, both in memory and on disk. It is
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possible to generate compressed files for later usage or convenient exchange
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between robots even under bandwidth constraints.
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WWW: https://octomap.github.io/
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