Real-time long-term navigation with cuda-accelerated 3D grid map
DOI:
https://doi.org/10.5821/iwp.2024.23.14136Abstract
In the landscape of robotics applications, the pivotal role of occupancy grids in preserving environmental data cannot be overstated. This significance becomes particularly pronounced in the realm of Simultaneous Localization and Mapping (SLAM), where mobile robots dynamically navigate and scan their surroundings. Addressing the challenges posed by loop closure detection, FRAGG-Map—an innovative 3D grid expressly crafted to optimize efficiency during sustained, long-term exploration. Diverging from conventional methods, FRAGG-Map minimizes the necessity for map reconstruction at loop closures, thereby enhancing overall operational efficiency.
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