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2022
Presentation
Titel
Efficient Global Occupancy Mapping for Mobile Robots using OpenVDB
Titel Supplements
Presentation held at IEEE/RSJ IROS Workshop Agile Robotics: Perception, Learning, Planning, and Control, 27.10.2022, Kyoto
Abstract
In this work we present a fast occupancy map building approach based on the VDB datastructure. Existing log- odds based occupancy mapping systems are often not able to keep up with the high point densities and framerates of modern sensors. Therefore, we suggest a highly optimized approach based on a modern datastructure coming from a computer graphic background. A multithreaded insertion scheme allows occupancy map building at unprecedented speed. Multiple optimizations allow for a customizable tradeoff between runtime and map quality. We first demonstrate the effectiveness of the approach quantitatively on a set of ablation studies and typical benchmark sets, before we practically demonstrate the system using a legged robot and a UAV.
Author(s)