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introduce
An octree is a data structure used to subdivide space in 3D vision. Each cube can be progressively subdivided into 8 sub-cubes until a given minimum volume (voxel) size is reached. And this minimum volume (voxel) determines the resolution of the octree.
The role of octomap:
- Generate a map with a small footprint and compact content from the point cloud, saving space
- Merge the overlapping details of the fused point cloud to improve computing efficiency
- Convenient for path planning, navigation, collision detection
Generally, when the scene is relatively large, a lower resolution is used, which means fewer and larger blocks. When the scene is small, use high resolution to improve accuracy.
The above is an octree storage example, the volume model is on the left, and the tree representation structure is on the right.
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