Real-time Volumetric Mapping

Image from real-time mapping of the freiburg3_long_office_household sequence, at 2 mm voxel size running at 2 Hz.

Image from real-time mapping of the freiburg3_long_office_household sequence, at 4 mm voxel size running at 2 Hz. NOTE: This was from an earlier version of UFOMap that had a color bug (the white dots in the image). Since then the color bug has been fixed and the integration speed has increased by at least 2x, enabling real-time colored volumetric mapping at 2 mm as you can see above.