ethz-asl/voxblox

Health v2 · maintenance only

Flags: no_releases

Adoption not part of the score

1666 stars · 394 forks observed · 2026-08-28

What it is AI-extracted, prompt v1, taxonomy v1, 2026-08-30, confidence not recorded

Voxblox is a C++ volumetric mapping library for building Truncated Signed Distance Field (TSDF) and Euclidean Signed Distance Field (ESDF) maps from sensor data. It is CPU-only, tightly integrated with ROS, and designed for on-board robotic perception and motion planning.

Use cases

• build 3D TSDF maps from depth camera or lidar scans
• generate ESDF distance fields for robot path planning
• run CPU-based volumetric reconstruction on a drone
• serialize and share voxel maps between processes
• create ground truth maps from Gazebo simulation environments
• incrementally fuse sensor data into a voxel grid on a robot

When to choose

• you need CPU-only volumetric mapping for a ROS-based robot
• you want ESDFs for collision-aware MAV or mobile robot planning
• you need extensible voxel layer types and integrators in C++

When to avoid

• you need GPU-accelerated TSDF fusion
• your project does not use ROS or C++
• you need dense photorealistic reconstruction rather than distance fields

Facets

library · maturity maintenance

simulation graphics computer-vision robotics robotics autonomous-vehicles simulation cpp voxel-mapping tsdf esdf signed-distance-fields 3d-reconstruction ros slam mav-planning linux

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markdown · JSON · MCP: product_card(name="ethz-asl/voxblox")