OHM: GPU Based Occupancy Map Generation

Occupancy grid maps (OGMs) are fundamental to most systems for autonomous robotic navigation. However, CPU-based implementations struggle to keep up with data rates from modern 3D lidar sensors, and provide little capacity for modern extensions which maintain richer voxel representations. This artic...

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Bibliographic Details
Published in:	IEEE robotics and automation letters Vol. 7; no. 4; pp. 11078 - 11085
Main Authors:	Stepanas, Kazys, Williams, Jason, Hernandez, Emili, Ruetz, Fabio, Hines, Thomas
Format:	Journal Article
Language:	English
Published:	Piscataway IEEE 01.10.2022 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	Algorithms Autonomous navigation Autonomous vehicle navigation Decay rate Graphics processing units Laser radar Navigation Occupancy Performance evaluation Platforms Research projects Robot sensing systems Robots sensor fusion Sensors software tools for robot programming Three-dimensional displays Unmanned ground vehicles
ISSN:	2377-3766, 2377-3766
Online Access:	Get full text
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