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danielduberg edited this page Mar 16, 2021 · 25 revisions

Integrator Performance

Method Voxel size (cm) Time (ms)
UFOMap 16 4.98 ± 1.30
OctoMap 5.52 ± 1.66
UFOMap 12.3 ± 7.4
OctoMap 8 16.3 ± 10.4
UFOMap fast 6.5 ± 2.2
UFOMap 60.9 ± 44.7
OctoMap 4 104.6 ± 82.2
UFOMap fast 10.9 ± 4.7
UFOMap 371 ± 254
OctoMap 2 745 ± 548
UFOMap fast 28 ± 15

UFOMap fast is always freeing space at 16 cm voxel size in this case.

Performed on the cow dataset.

Memory Consumption

Dataset Voxel size (cm) UFOMap (MB) OctoMap (MB)
FR-078 tidyup 5 7.42 21.49
FR-079 corridor 5 19.70 51.86
Freiburg campus 20 58.71 155.46
freiburg1_360 2 15.98 42.05
New College 20 29.41 75.40

Performed on the OctoMap 3D scan dataset.

Number of Nodes

Dataset Voxel size (cm) UFOMap OctoMap
FR-078 tidyup 5 1 642 113 1 369 165
FR-079 corridor 5 2 823 713 1 829 134
Freiburg campus 20 8 402 193 5 515 178
freiburg1_360 2 2 161 849 1 547 112
New College 20 4 157 217 2 633 701

Performed on the OctoMap 3D scan dataset.

If you use UFOMap in a scientific publication, please cite the following paper:
@article{duberg2020ufomap,
  author={Daniel Duberg and Patric Jensfelt},
  journal={IEEE Robotics and Automation Letters}, 
  title={{UFOMap}: An Efficient Probabilistic {3D} Mapping Framework That Embraces the Unknown}, 
  year={2020},
  volume={5},
  number={4},
  pages={6411-6418},
  doi={10.1109/LRA.2020.3013861}
}

Setup

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