SLAM Mapping


Metric Map

Grid Map

2D Occupancy Grid Map

  • costmap_2d (ROS Wiki): provides an implementation of a 2D costmap that takes in sensor data from the world, builds a 2D or 3D occupancy grid of the data (depending on whether a voxel based implementation is used), and inflates costs in a 2D costmap based on the occupancy grid and a user specified inflation radius

3D Occupancy Grid Map

  • OctoMap: An Efficient Probabilistic 3D Mapping Framework Based on Octrees, implements a 3D occupancy grid mapping approach, providing data structures and mapping algorithms in C++ particularly suited for robotics
  • ANYbotics/elevation_mapping: Robot-centric elevation mapping for rough terrain navigation
  • ethz-asl/volumetric_mapping: 3D volumetric (occupancy) maps, providing a generic interface for disparity map and pointcloud insertion, and support for custom sensor error models

Topological Map

Semantic Map

Map Viewers

  • Octomap: octovis
  • PCD: pcl_viewer map.pcd