Learning-aided 3D mapping

High performance volumetric occupancy and TSDF mapping

Code for our ICRA paper "Autonomous Navigation in Unknown Environments with Sparse Kernel-based Occupancy Mapping"

This is a C++ Uni Bonn course project for SoSe 25, which demonstrates the creation of a 3D occupancy grid map from a series of LiDAR scans taken from the 3D LiDAR sensor - Hesai XT-32, mounted on a ClearPath Husky robotic platform. It leverages modern C++17 features, the Eigen library for linear algebra ops and the Open3D library for visualisation