OctoMap 1.6.8 Description:
OctoMap is a small, easy to use, probabilistic, flexible, and compact 3D mapping library for robotic systems. OctoMap provides efficient occupancy grid mapping in 3D using octrees.The map is able to model arbitrary environments without prior assumptions about it. The representation models occupied areas as well as free space. If no information is available about an area (commonly denoted as unknown areas), this information is encoded as well.