Super Ray is a library for efficiently updating occupancy map representation with point clouds. The update approach based on super ray shows high performance without compromising representation accuracy. The implementation of our library is based on OctoMap library. You can see the detailed information of super ray based updates at here.

* Features
  • Support the four types of occupancy map representations: Octree, Quadtree, Grid3D, and Grid2D
  • Provide examples using super rays
* Notifications
  • We will distribute our Super Ray library in ROS
* Related Links