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I know what I am saying here is not precise.I know Octomap is a 3D occupancy grid mapping approach based on an octree and there are some SLAM methods that works based on 2D occupancy grids. E.g. Gmapping: a 2D grid-based SLAM algorithm that provides a 2-D occupancy grid map from laser and pose data collected by a mobile robot and Hector SLAM: a 2D grid-based SLAM algorithm that provides a 2-D occupancy grid map using combination of high update 2D mapping and 6DOF pose estimation.

I wanted to know is there any available package (or publication) that tries to use octomap representation to tackle SLAM problem?


Originally posted by AliAs on ROS Answers with karma: 63 on 2014-10-09

Post score: 0

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Yes there is, you can see here :


F. Endres, J. Hess, J. Sturm, D. Cremers, and W. Burgard. 3-d mapping with an rgb-d camera. Robotics, IEEE Transactions on, 30(1) :177–187, Feb 2014.


F. Endres, J. Hess, N. Engelhard, J. Sturm, D. Cremers, and W. Burgard. An evaluation of the rgb-d slam system. In Robotics and Automa-tion (ICRA), 2012 IEEE International Conference on, pages 1691–1696, May 2012.


Good luck


Originally posted by slamonline with karma: 36 on 2014-10-09

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Comment by AliAs on 2014-10-10:
Thank you. I saw the first paper and it seems they did every thing (e.g. extracting visual features, ...) using point clouds and next used Octomap to just reduce the map size. I added this, just to clarify the subject for future readers.

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