论文标题
UFOMAP：一个有效的概率3D映射框架，它包含未知的
UFOMap: An Efficient Probabilistic 3D Mapping Framework That Embraces the Unknown
论文作者
论文摘要
3D模型是许多机器人应用的重要组成部分。在环境未知A-Priori或仅知道环境的一部分的应用中，重要的是3D模型可以有效地处理未知空间。路径规划，探索和重建都属于这一类。在本文中，我们介绍了OCTOMAP的扩展名，我们称之为UFOMAP。 UFOMAP使用地图中所有三个状态的明确表示，即占领，免费和未知。令人惊讶的是，这给出了更有效的内存表示。此外，我们提供的方法可以更快地插入OCTREE。这使得高分辨率（低于1厘米）的实时彩色体积映射可以实时彩色映射。 UFOMAP作为C ++库供电，可以独立使用，但也集成到ROS中。
3D models are an essential part of many robotic applications. In applications where the environment is unknown a-priori, or where only a part of the environment is known, it is important that the 3D model can handle the unknown space efficiently. Path planning, exploration, and reconstruction all fall into this category. In this paper we present an extension to OctoMap which we call UFOMap. UFOMap uses an explicit representation of all three states in the map, i.e., occupied, free, and unknown. This gives, surprisingly, a more memory efficient representation. Furthermore, we provide methods that allow for significantly faster insertions into the octree. This enables real-time colored volumetric mapping at high resolution (below 1 cm). UFOMap is contributed as a C++ library that can be used standalone but is also integrated into ROS.
