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
2)Probabilistic Sensor Fusion Model
3)Sensor Model for Laser Range Data
![](https://ros-developer.com/wp-content/uploads/2017/11/octo_map_laser_scanner_mdoel.jpg)