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Diffstat (limited to 'math/octomap/pkg-descr')
| -rw-r--r-- | math/octomap/pkg-descr | 24 |
1 files changed, 24 insertions, 0 deletions
diff --git a/math/octomap/pkg-descr b/math/octomap/pkg-descr new file mode 100644 index 000000000000..ce3d27f3adb0 --- /dev/null +++ b/math/octomap/pkg-descr @@ -0,0 +1,24 @@ +The OctoMap library implements a 3D occupancy grid mapping approach, providing +data structures and mapping algorithms in C++ particularly suited for robotics. +The map implementation is based on an octree and is designed to meet the +following requirements: +* Full 3D model. The map is able to model arbitrary environments without prior + assumptions about it. The representation models occupied areas as well as free + space. Unknown areas of the environment are implicitly encoded in the map. + While the distinction between free and occupied space is essential for safe + robot navigation, information about unknown areas is important, e.g., for + autonomous exploration of an environment. +* Updatable. It is possible to add new information or sensor readings at any + time. Modeling and updating is done in a probabilistic fashion. This accounts + for sensor noise or measurements which result from dynamic changes in the + environment, e.g., because of dynamic objects. +* Flexible. The extent of the map does not have to be known in advance. Instead, + the map is dynamically expanded as needed. The map is multi-resolution so + that, for instance, a high-level planner is able to use a coarse map, while a + local planner may operate using a fine resolution. + close-up views. +* Compact. The map is stored efficiently, both in memory and on disk. It is + possible to generate compressed files for later usage or convenient exchange + between robots even under bandwidth constraints. + +WWW: https://octomap.github.io/ |