2000 character limit reached
GPU Accelerated Voxel Grid Generation for Fast MAV Exploration (2112.13169v3)
Published 25 Dec 2021 in cs.RO
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.