# ethz-asl/voxblox

A library for flexible voxel-based mapping, mainly focusing on truncated and Euclidean signed distance fields.

Repository: https://github.com/ethz-asl/voxblox
Canonical: https://ross.abutalabs.com/products/voxblox
Language: C++
License: BSD-3-Clause
License Family: permissive
Topics: voxblox, mapping, robotics
Last push: 2024-07-01T05:21:48+00:00

## Health v2 (maintenance only)
Score: 32/100 (v2, computed 2026-09-02T17:46:02.011165+00:00)
- activity 0, release rhythm 35, longevity 100
- inputs: {"age_days": 3794, "days_push": 793, "days_rel": null, "gap_med": null, "n_releases_24m": 0}
- flags: no_releases
- formula: round(0.45*activity + 0.35*rhythm + 0.20*longevity); archived -> min(score, 10)

## Adoption (not part of the score)
Stars 1666, forks 394 (observed 2026-08-28T04:05:19.105245+00:00)

## What it is
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
- artifact type: library
- maturity: maintenance
- function: simulation, graphics, computer-vision, robotics
- domain: robotics, autonomous-vehicles, simulation
- platform: cpp
- tags: voxel-mapping, tsdf, esdf, signed-distance-fields, 3d-reconstruction, ros, slam, mav-planning, linux

## Member repositories
- ethz-asl/voxblox (main) score 32

## Provenance
- Observed fields: from GitHub, fetched 2026-08-28T04:05:19.105245+00:00.
- Health v2: computed from the inputs above; adoption is never an input.
- Inferred fields (summary, facets, guidance): AI-extracted, prompt v1, taxonomy v1, on 2026-08-30T03:42:58.840502+00:00, confidence not recorded.
  - readme: https://github.com/ethz-asl/voxblox (fetched 2026-08-28T04:05:19.105245+00:00, sha 94d34ea33985)
- Data as of 2026-08-30T08:39:29.467469+00:00.