GPU Accelerated Voxel Grid Generation for Fast MAV Exploration

TL;DR

This paper introduces a GPU-accelerated algorithm for rapid voxel grid generation, enhancing real-time robot navigation by efficiently partitioning space into occupied, free, and unknown regions.

Contribution

The paper presents a novel GPU-based method for fast voxel grid creation, improving speed and latency for robot exploration and motion planning tasks.

Findings

Significantly reduces voxel grid generation time

Enables high-speed navigation in robotics

Suitable for real-time exploration applications

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.