this is a test project , use rgbd camera build a 3D Dense pointcloud map then make use of octomap to get a compressed 3D map
we can project to 2d costmap to navigation for robot
example:
xiamuyrz / orb-slam-rgbd-with-octomap Goto Github PK
View Code? Open in Web Editor NEWThis project forked from ewenwan/orb-slam-rgbd-with-octomap
ORB_SLAM with Octomap