Accelerating Probabilistic Volumetric Mapping using Ray-Tracing Graphics Hardware
Heajung Min Kyung Min Han Young J. Kim Heajung Min Kyung Min Han Young J. Kim
Probabilistic volumetric mapping (PVM) represents a 3D environmental map for an autonomous robotic navigational task. A popular implementation such as Octomap is widely used in the robotics community for such a purpose. The Octomap relies on an octree to represent a PVM and its main bottleneck lies in massive ray-shooting to determine the occupancy of the underlying volumetric voxel grids.In this ...