OctoMap-RT: Fast Probabilistic Volumetric Mapping Using Ray-Tracing GPUs

A 3D occupancy map that is accurately modeled after real-world environments is essential for reliably performing robotic tasks. Probabilistic volumetric mapping (PVM) is a well-known environment mapping method using volumetric voxel grids that represent the probability of occupancy. The main bottlen...

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Bibliographic Details

Published in:	IEEE robotics and automation letters Vol. 8; no. 9; pp. 1 - 8
Main Authors:	Min, Heajung, Han, Kyung Min, Kim, Young J.
Format:	Journal Article
Language:	English
Published:	Piscataway IEEE 01.09.2023 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	Graphics processing units Hardware -Software Integration in Robotics Mapping Octrees Probabilistic logic Ray tracing Robot sensing systems Simulation and Animation Statistical analysis Task analysis Three-dimensional displays
ISSN:	2377-3766, 2377-3766
Online Access:	Get full text
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