GPU Accelerated Voxel Grid Generation for Fast MAV Exploration
This work addresses the need for fast environment representation in micro aerial vehicle exploration, but it appears incremental as it builds on existing voxel grid methods with GPU acceleration.
The paper tackles the problem of generating voxel grids for robot motion planning by proposing a GPU-accelerated algorithm that is low-latency and suitable for high-speed navigation, achieving unspecified speed improvements.
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.