Under CopyrightHagmanns, RaphaelRaphaelHagmannsEmter, ThomasThomasEmterGrosse Besselmann, MarvinMarvinGrosse BesselmannBeyerer, JürgenJürgenBeyerer2023-03-212023-03-212022https://publica.fraunhofer.de/handle/publica/437859https://doi.org/10.24406/publica-108110.24406/publica-1081In 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.enoccupancy mappingmap representationUAVOpenVDBpresentation