SLAM Mapping¶
Metric Map¶
Grid Map¶
- ANYbotics/grid_map: Universal grid map library for mobile robotic mapping
- 占据栅格地图（Occupancy 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¶
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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
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ANYbotics/elevation_mapping: Robot-centric elevation mapping for rough terrain navigation
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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 octomap.bt - PCD:
pcl_viewer map.pcd