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arXiv · 2112.13169

GPU Accelerated Voxel Grid Generation for Fast MAV Exploration

Charbel Toumieh·Alain Lambert
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Abstract

Voxel grids are a minimal and efficient environment representation that is used for robot motion planning in numerous tasks. Many state-of-the-art planning algorithms use voxel grids composed of free, occupied and unknown voxels. In this paper we propose a new GPU accelerated algorithm for partitioning the space into a voxel grid with occupied, free and unknown voxels. The proposed approach is low latency and suitable for high speed navigation.

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Charbel Toumieh, Alain Lambert. 2021-12-25. GPU Accelerated Voxel Grid Generation for Fast MAV Exploration. https://arxiv.org/abs/2112.13169

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