DeepAI AI Chat
Log In Sign Up

GPU Accelerated Voxel Grid Generation for Fast MAV Exploration

by   Charbel Toumieh, et al.

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.


page 3

page 6


Shape-aware Safe Corridors Generation using Voxel Grids

Safe Corridors (a series of overlapping convex shapes) have been used re...

Robotic Sculpting with Collision-free Motion Planning in Voxel Space

In this paper, we explore the task of robot sculpting. We propose a sear...

Resolution Improvement of the Common Method for Presentating Arbitrary Space Curves Voxel

The task of voxel resolution for a space curve in video memory of 3D dis...

Deformable Voxel Grids for Shape Comparisons

We present Deformable Voxel Grids (DVGs) for 3D shapes comparison and pr...

G-VOM: A GPU Accelerated Voxel Off-Road Mapping System

We present a local 3D voxel mapping framework for off-road path planning...

Distance Preserving Grid Layouts

Distance preserving visualization techniques have emerged as one of the ...