An Efficient Probabilistic 3D Mapping Framework Based on Octrees

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.

Future OctoMap development has moved to GitHub! Please refer to the new location http://octomap.github.com/ and the repository at https://github.com/OctoMap/octomap for code updates, downloads, and the new bug and feature tracker.