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.

翻译：Voxel 电网是一种最低和高效的环境代表,可用于在很多任务中进行机器人运动规划。许多最先进的规划算法使用由自由、占用和未知氧化物组成的 voxel 电网。在本文中,我们提出了一个新的 GPU 加速算法,用于将空间分割成一个带有已占用、自由和未知氧化物的 voxel 电网。提议的方法是低延度,适合高速导航。