voxblox

by ethz-asl

ethz-asl /voxblox

A library for flexible voxel-based mapping, mainly focusing on truncated and Euclidean signed distan...

543 Stars 168 Forks Last release: Not found BSD 3-Clause "New" or "Revised" License 1.5K Commits 0 Releases

Available items

No Items, yet!

The developer of this repository has not created any items for sale yet. Need a bug fixed? Help with integration? A different license? Create a request here:

Voxblox

voxblox_small

Voxblox is a volumetric mapping library based mainly on Truncated Signed Distance Fields (TSDFs). It varies from other SDF libraries in the following ways: * CPU-only, can be run single-threaded or multi-threaded for some integrators * Support for multiple different layer types (containing different types of voxels) * Serialization using protobufs * Different ways of handling weighting during merging * Different ways of inserting pose information about scans * Tight ROS integration (in voxblox_ros package) * Easily extensible with whatever integrators you want * Features an implementation of building Euclidean Signed Distance Fields (ESDFs, EDTs) directly from TSDFs.

If you're looking for skeletonization/sparse topology or planning applications, please refer to the mavvoxbloxplanning repo. If you want to create ground truth maps from meshes or gazebo environments, please check out the voxbloxgroundtruth pakage!

example_gif

Documentation

Table of Contents

Paper and Video

A video showing sample output from voxblox can be seen here. A video of voxblox being used for online planning on-board a multicopter can be seen here.

If using voxblox for scientific publications, please cite the following paper, available here:

Helen Oleynikova, Zachary Taylor, Marius Fehr, Juan Nieto, and Roland Siegwart, “Voxblox: Incremental 3D Euclidean Signed Distance Fields for On-Board MAV Planning”, in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017.

@inproceedings{oleynikova2017voxblox,
  author={Oleynikova, Helen and Taylor, Zachary and Fehr, Marius and Siegwart, Roland and  Nieto, Juan},
  booktitle={IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  title={Voxblox: Incremental 3D Euclidean Signed Distance Fields for On-Board MAV Planning},
  year={2017}
}

Credits

This library was written primarily by Helen Oleynikova and Marius Fehr, with significant contributions from Zachary Taylor, Alexander Millane, and others. The marching cubes meshing and ROS mesh generation were taken or heavily derived from open_chisel. We've retained the copyright headers for the relevant files.

offline_manifold

We use cookies. If you continue to browse the site, you agree to the use of cookies. For more information on our use of cookies please see our Privacy Policy.