Hi Armin,
On Thu, 2010-11-25 at 11:48 +0100, Armin Hornung wrote:
> This coincides with the release of OctoMap v0.8, which the
> octomap_mapping stack now builds on. Compared to previous versions, the
> optimizations in OctoMap 0.8 significantly speed up map building and
> queries on the map.
That's excellent news. I'll see if I can test our code with the new
release shortly. We've had performance issues in the past and had to
resort to offline map-building. It would be great if we could do that
online instead.
> As always, we're curious to hear how you use OctoMap
As you are probably aware of, we (Udo Frese's Realtime Vision Group here
in Bremen) use OctoMap to build a volumetric map in our visual SLAM
system developed as part of the SFB TR/8 A7 project. See [1] for a
video.
> and if there are suggestions for further improvements.
Have you considered using Eigen2/3 for vector/matrix/quaternion math?
I would expect this to yield further performance improvements and it
would relieve you from maintaining your own matrix/quaternion library.
Cheers,
Rene
[1]
http://www.ros.org/wiki/Events/CoTeSys-ROS-School/Presentations?action=AttachFile&do=get&target=vslam.mp4
--
------------------------------------------------------------
Dipl.-Inf. René Wagner Junior Researcher
DFKI Bremen Enrique-Schmidt-Str. 5
Safe and Secure Cognitive Systems D-28359 Bremen
Phone: (+49) 421-218-64224 Fax: (+49) 421-218-98-64224
Web: http://www.informatik.uni-bremen.de/agebv/en/ReneWagner
--- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
Deutsches Forschungszentrum für Künstliche Intelligenz GmbH
Firmensitz: Trippstadter Strasse 122, D-67663 Kaiserslautern
Geschäftsführung:
Prof. Dr. Dr. h.c. mult. Wolfgang Wahlster (Vorsitzender)
Dr. Walter Olthoff
Vorsitzender des Aufsichtsrats:
Prof. Dr. h.c. Hans A. Aukes
Amtsgericht Kaiserslautern HRB 2313
------------------------------------------------------------
(text/plain)