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A probabilistic, flexible, and compact 3D mapping library for robotic systems. OctoMap provides efficient occupancy grid mapping in 3D using octrees. OctoMap development has moved to http://octomap.github.com/
NOTE: We have moved the project to https://bitbucket.org/makokal/openprm/overview, all the code that is still in sf is not maintained anymore. please use the new code at the location given