This ROS package includes the implementation about the occupancy grids based on adaptive kernel inference and the example of on-the-fly mapping. AKIMap predicts an occupancy probability of an environment given sparse point clouds. You can see technical details of the map on the project page.

You can build this package through the following commands (check your directory of catkin workspace). We implemented and tested this package on ROS Melodic.

cd ~/catkin_ws/src
git clone https://github.com/PinocchioYS/akimap.git
cd ~/catkin_ws/src && catkin_make

This package includes a bag file in the 'sample' directory for a simple test.

roslaunch akimap example.launch
rosbag play $(rospack find akimap)/sample/example.bag