Volumetric Mapping

Volumetric mapping creates 3D models of environments by fusing sensor data into a dense, three-dimensional representation, often using techniques like truncated signed distance fields (TSDFs) or Gaussian splatting. Current research emphasizes improving efficiency and accuracy, particularly through GPU acceleration, optimized data structures (e.g., quadtrees, octrees), and the integration of other sensor modalities (e.g., LiDAR, IMUs) to enhance robustness and detail. These advancements are crucial for applications in robotics (navigation, manipulation), autonomous exploration (e.g., of confined spaces), and computer vision (scene understanding, object recognition), enabling more sophisticated and reliable interactions with the physical world.

Papers