D-BDM reduces update time and memory in LiDAR 3D occupancy mapping by restricting ray casting to boundary exteriors and enabling direct boundary updates.
Avoiding dynamic small obstacles with onboard sensing and computation on aerial robots
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D-BDM: A Direct and Efficient Boundary-Based Occupancy Grid Mapping Framework for LiDARs
D-BDM reduces update time and memory in LiDAR 3D occupancy mapping by restricting ray casting to boundary exteriors and enabling direct boundary updates.