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You should state your problem more precisely.

Did you consider OctoMap (http://octomap.github.io/)?

You should state your problem more precisely.

Did you consider OctoMap (http://octomap.github.io/)?(http://octomap.github.io/) or RGBDSLAM (http://wiki.ros.org/rgbdslam)?

Also consider the listing at http://openslam.org/

You should state your problem more precisely.

Did you consider OctoMap (http://octomap.github.io/) OctoMap or RGBDSLAM (http://wiki.ros.org/rgbdslam)?RGBDSLAM ?

Also consider the listing You may find something relevant at http://openslam.org/http://openslam.org/ though it may not yet be available as a ROS package.