# \#mapping

**URL:** https://discourse.openrobotics.org/tag/mapping/453.md

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## [ORB-SLAM3 Extension: Real-Time Sparse Map to Occupancy Grid (.yaml/.pgm) for ROS 2 Navigation](https://discourse.openrobotics.org/t/orb-slam3-extension-real-time-sparse-map-to-occupancy-grid-yaml-pgm-for-ros-2-navigation/49158)

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**Author:** [@Harishma356](https://discourse.openrobotics.org/u/Harishma356)\
**Replies:** 5\
**Last updated:** [May 27, 2026, 5:58pm UTC](https://discourse.openrobotics.org/t/orb-slam3-extension-real-time-sparse-map-to-occupancy-grid-yaml-pgm-for-ros-2-navigation/49158 "2026-05-27T17:58:16Z")

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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 RO…

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## [How do people in industry handle updating a 3D pointcloud map?](https://discourse.openrobotics.org/t/how-do-people-in-industry-handle-updating-a-3d-pointcloud-map/52841)

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**Author:** [@Shashwat\_Patil](https://discourse.openrobotics.org/u/Shashwat_Patil)\
**Replies:** 4\
**Last updated:** [March 6, 2026, 6:39am UTC](https://discourse.openrobotics.org/t/how-do-people-in-industry-handle-updating-a-3d-pointcloud-map/52841 "2026-03-06T06:39:13Z")

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Hi everyone, I was trying to find a 3D mapping pkg to map a warehouse environment, have been using glim for mapping and hdl\_slam for localization. Wanted to know if there was some technique/pkg that would like allow the…