In order to solve these issues we propose a novel probabilistic mapping framework based on OpenVDB, which is a hierarchical tree structure with efficient access methods to discretized volumetric data.

2024年2月10日 · 论文提出了一个称为VDB的新颖数据结构和算法，它可以高效地表示三维网格上的稀疏、随时间变化的数据。 VDB的数据结构基于B+树，包含一个动态的 根节点，以及多个内部节点和叶节点层次，这些节点具有不同的分支因子和较小的尺寸。 它通过倒序遍历已经访问过的节点来实现随机访问的显著加速，同时保持了固定的树深度和分支因子。 主要优势包括：灵活且快速的随机访问、无限制的索引域、支持任意网格拓扑、小的内存和磁盘占用、快速的写入速度、 …

该博客围绕一篇论文展开，介绍了一种基于VDB数据结构的三维建图系统。 此系统无需对环境或传感器做前提假设，使用OpenVDB实现有效3D地图表示。 它从SLAM中分离点云建图库，具有灵活性。 实验表明，该系统建图速度快、省内存，精度也有提升。 论文链接： https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8838740/ 其他参考建议看一下本篇论文的对应reference paper处. 代码链接：https://github.com/PRBonn/vdbfusion.

2021年8月23日 · In this work we present a fast occupancy map building approach based on the VDB datastructure. Existing log-odds based occupancy mapping systems are often not able to keep up with the high...

2022年11月6日 · Benefiting from the fast index and caching systems, VDB achieves a much faster random access speed than Octree and also exhibits a competitive performance with the voxel hashing. the first time introduce the VDB data structure for distance field representation, which significantly reduces the memory consumption of EDT.

This repo is modified ROS1 version of vdbfusion for mapping incrementally based on received odometry and corresponding point cloud message. Since the origin repo of vdbfusion_ros have some problems on the cow dataset, more issues can be found here.

2022年10月30日 · We propose a novel probabilistic mapping solution that leverages a combination of OpenVDB, NanoVDB, and Nvidia’s Compute Unified Device Architecture (CUDA) to encode dense point clouds into OpenVDB data structures, leveraging the parallel compute strength of GPUs to provide significant speed advantages and …

2022年8月25日 · In this paper we present a distributed mapping approach, which is able to efficiently share identical maps between different machines. Further this approach can be be used to combine data from various sources (e.g. collaborative robot teams) into a single map.

This repo is modified ROS1 version of vdbfusion for mapping incrementally based on received odometry and corresponding point cloud message. Since the origin repo of vdbfusion_ros have some problems on the cow dataset, more issues can be found here.

VDB Mapping is highly configurable using ROS parameters. Below is a complete list of all available parameters. Internally we store them in a yaml configuration file. An example can be found here. Listed below are the general parameters to configure the …