2022/11/08 by Raphael Hagmanns, Thomas Emter, Hagmanns, Raphael +5 · 1 citation
Computer Science · #Data Management and Algorithms #FOS: Computer and information sciences #Real-Time Systems Scheduling #Robotic Path Planning Algorithms #Robotics (cs.RO)
paper · pdf · doi:10.48550/arxiv.2211.04067
openalex publication_date 2022/11/08 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
In this work we present a fast occupancy map building approach based on the VDB datastructure. Existing log-odds based occupancy mapping systems are often not able to keep up with the high point densities and framerates of modern sensors. Therefore, we suggest a highly optimized approach based on a modern datastructure coming from a computer graphic background. A multithreaded insertion scheme allows occupancy map building at unprecedented speed. Multiple optimizations allow for a customizable tradeoff between runtime and map quality. We first demonstrate the effectiveness of the approach quantitatively on a set of ablation studies and typical benchmark sets, before we practically demonstrate the system using a legged robot and a UAV.