Example Outputs

Real-time Volumetric Mapping

Image from real-time mapping of the freiburg3_long_office_household sequence, at 4 mm voxel size running at 2 Hz. 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}
}