Octomap explanierend

In this tutorial, I explain the concept, probabilistic sensor fusion model and the sensor model used in Octomap library.

related publication: OctoMap: An Efficient Probabilistic 3D Mapping Framework Based on Octrees

1)Octamap Volumetric Model

octree storing free (shaded white) and occupied (black) cells. Image is taken from Ref [1]


2)Probabilistic Sensor Fusion Model

3)Sensor Model for Laser Range Data

Image is taken from Ref [1].

 

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