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OctoMap - An Efficient Probabilistic 3D Mapping Framework Based on Octrees.

Originally developed by Kai M. Wurm and Armin Hornung, University of Freiburg, Copyright (C) 2009-2014. Currently maintained by Armin Hornung. See the list of contributors for further authors.


Download the latest releases:

API documentation:

Build status: Build Status

Report bugs and request features in our tracker:

A list of changes is available in the octomap changelog


OctoMap consists of two separate libraries each in its own subfolder: octomap, the actual library, and octovis, our visualization libraries and tools. This README provides an overview of both, for details on compiling each please see octomap/ and octovis/ respectively. See and if you want to use OctoMap in ROS; there are pre-compiled packages available.

You can build each library separately with CMake by running it from the subdirectories, or build octomap and octovis together from this top-level directory. E.g., to only compile the library, run:

cd octomap
mkdir build
cd build
cmake ..

To compile the complete package, run:

cd build
cmake ..

Binaries and libs will end up in the directories bin and lib of the top-level directory where you started the build.

See octomap README and octovis README for further details and hints on compiling, especially under Windows.


An Efficient Probabilistic 3D Mapping Framework Based on Octrees. Contains the main OctoMap library, the viewer octovis, and dynamicEDT3D.



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