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arXiv · 2509.20081

DB-TSDF: Directional Bitmask-based Truncated Signed Distance Fields for Efficient Volumetric Mapping

Jose E. Maese·Luis Merino·Fernando Caballero
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Abstract

This paper presents a high-efficiency, CPU-only volumetric mapping framework based on a Truncated Signed Distance Field (TSDF). The system incrementally fuses raw LiDAR point-cloud data into a voxel grid using a directional bitmask-based integration scheme, producing dense and consistent TSDF representations suitable for real-time 3D reconstruction. A key feature of the approach is that the processing time per point-cloud remains constant, regardless of the voxel grid resolution, enabling high resolution mapping without sacrificing runtime performance. In contrast to most recent TSDF/ESDF methods that rely on GPU acceleration, our method operates entirely on CPU, achieving competitive results in speed. Experiments on real-world open datasets demonstrate that the generated maps attain accuracy on par with contemporary mapping techniques.

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Jose E. Maese, Luis Merino, Fernando Caballero. 2025-09-24. DB-TSDF: Directional Bitmask-based Truncated Signed Distance Fields for Efficient Volumetric Mapping. https://arxiv.org/abs/2509.20081

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