ORB-SLAM3 Extension: Real-Time Sparse Map to Occupancy Grid (.yaml/.pgm) for ROS 2 Navigation

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Hi :waving_hand:,

I’m Harishma Prakash, an undergraduate from Chennai Institute of Technology, India.

I’ve extended ORB-SLAM3 to include a real-time occupancy grid generator. It takes the sparse 3D map and outputs a ROS 2-compatible .pgm and map.yaml automatically during SLAM execution — no extra commands needed.

GitHub Repository:

Key Features:

  • Runs as a background thread inside ORB-SLAM3
  • Generates .png, .pgm, and map.yaml during SLAM
  • Uses voxel filtering + 2D convex hull + raycasting
  • Generates ROS2 compatible maps

It’s still basic but functional. I would love to hear feedback or suggestions.
Thanks!

— Harishma Prakash

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This looks neat! Do you have any videos or example maps that this creates? That might help folks get interested and involved in your work!