2023
OctoMap-RT: Fast Probabilistic Volumetric Mapping Using Ray-Tracing GPUs
RA-L 2023
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