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.
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