# UFOMap: An Efficient Probabilistic 3D Mapping Framework That Embraces the Unknown

UFOMap is an effienct probabilistic 3D mapping framework with an explicit representation of unknown space.

## Table of Contents
Please see the [Wiki](https://github.com/UnknownFreeOccupied/ufomap/wiki) for how to install and use UFOMap.
1. [Setup](https://github.com/UnknownFreeOccupied/ufomap/wiki/Tutorials)
2. [Tutorials](https://github.com/UnknownFreeOccupied/ufomap/wiki/Setup)
3. [ROS Tutorials](https://github.com/UnknownFreeOccupied/ufomap/wiki/ROS-Tutorials)
4. [Advanced ROS Tutorials](https://github.com/UnknownFreeOccupied/ufomap/wiki/Advanced-ROS-Tutorials)
5. [Performance](https://github.com/UnknownFreeOccupied/ufomap/wiki/Performance)
6. [Example Outputs](https://github.com/UnknownFreeOccupied/ufomap/wiki/Example-Outputs)
7. [Data Repository](https://github.com/UnknownFreeOccupied/ufomap/wiki/Data-Repository)
8. [API](https://github.com/UnknownFreeOccupied/ufomap/wiki/API)

## Credits
### Paper
* [IEEE](https://ieeexplore.ieee.org/abstract/document/9158399)
* [ArXiv](https://arxiv.org/abs/2003.04749)
### Cite
If you use UFOMap in a scientific publication, please cite the following paper:
* Daniel Duberg and Patric Jensfelt, "UFOMap: An Efficient Probabilistic 3D Mapping Framework That Embraces the Unknown," in IEEE Robotics and Automation Letters, vol. 5, no. 4, pp. 6411-6418, Oct. 2020, doi: 10.1109/LRA.2020.3013861.
```latex
@article{duberg2020ufomap,
  author={Daniel Duberg and Patric Jensfelt},
  journal={IEEE Robotics and Automation Letters}, 
  title={{UFOMap}: An Efficient Probabilistic {3D} Mapping Framework That Embraces the Unknown}, 
  year={2020},
  volume={5},
  number={4},
  pages={6411-6418},
  doi={10.1109/LRA.2020.3013861}
}
```
### Videos
* [YouTube Playlist](https://youtube.com/playlist?list=PLoZnKRp2UVom4bv2fUVXgI5VCbuTrfrU3)