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160 Stars 43 Forks BSD 3-Clause "New" or "Revised" License 237 Commits 5 Opened issues


Voxblox-based submapping

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A TSDF-based mapping library based on Voxblox. C-blox adds sub-mapping to voxblox with the aim of allowing large(r)-scale mapping in the presence of imperfect pose estimates.


If using c-blox for scientific publications, please cite the following paper, available here:

Alexander Millane, Zachary Taylor, Helen Oleynikova, Juan Nieto, Roland Siegwart and Cesar Cadena. "C-blox: A Scalable and Consistent TSDF-based Dense Mapping Approach." 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2018.

  author={Millane, Alexander and Taylor, Zachary and Oleynikova, Helen and Nieto, Juan and Siegwart, Roland and Cadena, C{\'e}sar},
  booktitle={2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  title={C-blox: A Scalable and Consistent TSDF-based Dense Mapping Approach},


C-blox extends the voxblox library and runs on ROS. The first step of installation is to setup a catkin workspace and install voxblox as per the instructions here.

Then Navigate to the catkin src space and clone c-blox; if you've installed in the default location and are using ssh keys for github:

cd ~/catkin_ws/src/
git clone [email protected]:ethz-asl/c-blox.git
catkin build cblox_ros
You're done!

Example Usage

We include (at the moment) two examples with the c-blox package: * Kitti Dataset (ground truth localization) * ~~Machine Hall (orb-slam localization)~~ (in production)

Kitti Dataset

In this example we create a cblox map using the lidar data and "ground-truth" pose estimates from the kitti dataset. This simple example demonstrates the creation and display of submaps using c-blox - because we use drift-free pose estimates (rather than a SLAM system), no submap correction is required/used.

The produced map, viewed in rviz:


And under construction


To run the example download a kitti raw dataset. To produce the map above, we ran the "20110930drive0018" dataset under the catagory "residential". Convert the data to a rosbag using kittitorosbag.

Then, with cbloxros built and your workspace sourced, run cblox: ``` roslaunch cbloxros runkitti.launch datasetpath:=PATHTOYOUR_BAG ``` Rviz should start up and you should see the submaps start to appear, as in the animation above.

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