Chapter 45 — World Modeling

OctoMap visualization

This video shows the Freiburg Computer Science campus in a 3-D OctoMap. Note that free space is also encoded, although not shown in the video. The map covers an area of 292 x 167 x 28 m^3 and requires only 130 MB in memory at 20 cm resolution.
Maren Bennewitz, Wolfram Burgard, Armin Hornung, Cyrill Stachniss, Kai Wurm
Courtesy of Armin Hornung, University of Freiburg
Latitude =48.014279 , Longitude =7.831512    (link to Google Maps)