{"id":"https://openalex.org/W4401417366","doi":"https://doi.org/10.1109/icra57147.2024.10611532","title":"nvblox: GPU-Accelerated Incremental Signed Distance Field Mapping","display_name":"nvblox: GPU-Accelerated Incremental Signed Distance Field Mapping","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401417366","doi":"https://doi.org/10.1109/icra57147.2024.10611532"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10611532","doi":"https://doi.org/10.1109/icra57147.2024.10611532","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611532","pdf_url":null,"source":{"id":"https://openalex.org/S4210217939","display_name":"Proceedings - IEEE International Conference on Robotics and Automation/Proceedings","issn_l":"1050-4729","issn":["1050-4729","2577-087X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","norway-1"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"volume":null,"type":"conference-paper","is_traditional":true,"indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2311.00626","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5040707706","display_name":"Alexander Millane","orcid":"https://orcid.org/0000-0002-1108-0806","observed_orcids":["https://orcid.org/0000-0002-1108-0806"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Alexander Millane","raw_affiliation_strings":["NVIDIA,Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"NVIDIA,Switzerland","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050090757","display_name":"Helen Oleynikova","orcid":"https://orcid.org/0000-0002-1831-2315","observed_orcids":["https://orcid.org/0000-0002-1831-2315"]},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Helen Oleynikova","raw_affiliation_strings":["ETH Zurich,Autonomous Systems Lab,Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH Zurich,Autonomous Systems Lab,Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040630609","display_name":"\u00c9milie Wirbel","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Emilie Wirbel","raw_affiliation_strings":["NVIDIA,Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"NVIDIA,Switzerland","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002564408","display_name":"Remo Steiner","orcid":"https://orcid.org/0000-0001-9785-9871","observed_orcids":["https://orcid.org/0000-0001-9785-9871"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Remo Steiner","raw_affiliation_strings":["NVIDIA,Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"NVIDIA,Switzerland","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5104192594","display_name":"Vikram Ramasamy","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Vikram Ramasamy","raw_affiliation_strings":["NVIDIA,Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"NVIDIA,Switzerland","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007160880","display_name":"David Tingdahl","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"David Tingdahl","raw_affiliation_strings":["NVIDIA,Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"NVIDIA,Switzerland","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083003222","display_name":"Roland Siegwart","orcid":"https://orcid.org/0000-0002-2760-7983","observed_orcids":["https://orcid.org/0000-0002-2760-7983"]},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Roland Siegwart","raw_affiliation_strings":["ETH Zurich,Autonomous Systems Lab,Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH Zurich,Autonomous Systems Lab,Switzerland","institution_ids":["https://openalex.org/I35440088"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":9.5566,"has_fulltext":true,"cited_by_count":66,"citation_normalized_percentile":{"value":0.98551976,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"2698","last_page":"2705"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9824000000953674,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9824000000953674,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10719","display_name":"3D Shape Modeling and Analysis","score":0.007000000216066837,"subfield":{"id":"https://openalex.org/subfields/1704","display_name":"Computer Graphics and Computer-Aided Design"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.003800000064074993,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/signed-distance-function","display_name":"signed distance function","score":0.8169999718666077},{"id":"https://openalex.org/keywords/volumetric-mapping","display_name":"volumetric mapping","score":0.7620000243186951},{"id":"https://openalex.org/keywords/gpu-acceleration","display_name":"GPU acceleration","score":0.734000027179718},{"id":"https://openalex.org/keywords/incremental-mapping","display_name":"incremental mapping","score":0.6930000185966492},{"id":"https://openalex.org/keywords/robot-navigation","display_name":"robot navigation","score":0.8309999704360962},{"id":"https://openalex.org/keywords/surface-reconstruction","display_name":"surface reconstruction","score":0.7960000038146973},{"id":"https://openalex.org/keywords/open-source-library","display_name":"open-source library","score":0.6679999828338623}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6288751363754272},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.6012828946113586},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.4836226999759674},{"id":"https://openalex.org/C71169176","wikidata":"https://www.wikidata.org/wiki/Q7512907","display_name":"Signed distance function","level":2,"score":0.43784698843955994},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3152427673339844},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1082705557346344},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/icra57147.2024.10611532","doi":"https://doi.org/10.1109/icra57147.2024.10611532","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611532","pdf_url":null,"source":{"id":"https://openalex.org/S4210217939","display_name":"Proceedings - IEEE International Conference on Robotics and Automation/Proceedings","issn_l":"1050-4729","issn":["1050-4729","2577-087X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","norway-1"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2311.00626","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2311.00626","pdf_url":"https://arxiv.org/pdf/2311.00626","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"pmh:oai:www.research-collection.ethz.ch:20.500.11850/717411","doi":null,"is_oa":true,"landing_page_url":"http://hdl.handle.net/20.500.11850/717411","pdf_url":null,"source":{"id":"https://openalex.org/S4306402302","display_name":"Repository for Publications and Research Data (ETH Zurich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I35440088","host_organization_name":"ETH Zurich","host_organization_lineage":["https://openalex.org/I35440088"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"doi:10.48550/arxiv.2311.00626","doi":"https://doi.org/10.48550/arxiv.2311.00626","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2311.00626","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},{"id":"doi:10.3929/ethz-b-000717411","doi":"https://doi.org/10.3929/ethz-b-000717411","is_oa":true,"landing_page_url":"https://doi.org/10.3929/ethz-b-000717411","pdf_url":null,"source":{"id":"https://openalex.org/S7407051236","display_name":"ETH Z\u00fcrich Research Collection","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article-journal"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2311.00626","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2311.00626","pdf_url":"https://arxiv.org/pdf/2311.00626","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4401417366.pdf","grobid_xml":"https://content.openalex.org/works/W4401417366.grobid-xml"},"referenced_works_count":38,"referenced_works":["https://openalex.org/W612478963","https://openalex.org/W1532701078","https://openalex.org/W1612997784","https://openalex.org/W1716229439","https://openalex.org/W1985238052","https://openalex.org/W2027917757","https://openalex.org/W2064451896","https://openalex.org/W2071906076","https://openalex.org/W2099940712","https://openalex.org/W2133844819","https://openalex.org/W2178629455","https://openalex.org/W2250172176","https://openalex.org/W2336416123","https://openalex.org/W2461937780","https://openalex.org/W2585698528","https://openalex.org/W2607968634","https://openalex.org/W2770176163","https://openalex.org/W2776330782","https://openalex.org/W2919379406","https://openalex.org/W2949830259","https://openalex.org/W2962794880","https://openalex.org/W2967417521","https://openalex.org/W2978413979","https://openalex.org/W2990284439","https://openalex.org/W3004227484","https://openalex.org/W3007469703","https://openalex.org/W3015238808","https://openalex.org/W3017511842","https://openalex.org/W3097090618","https://openalex.org/W3133648073","https://openalex.org/W3138169940","https://openalex.org/W4200150166","https://openalex.org/W4221151978","https://openalex.org/W4281479885","https://openalex.org/W4312870968","https://openalex.org/W4312878643","https://openalex.org/W4383109145","https://openalex.org/W4383172031"],"related_works":["https://openalex.org/W4389665879","https://openalex.org/W2990284439","https://openalex.org/W4285289259","https://openalex.org/W4385413541","https://openalex.org/W4308544917","https://openalex.org/W7083317201","https://openalex.org/W4312870968","https://openalex.org/W2561394090","https://openalex.org/W3001499506","https://openalex.org/W4404688206"],"abstract_inverted_index":{"Dense,":[0],"volumetric":[1,90],"maps":[2,19],"are":[3,20,60],"essential":[4],"to":[5,44,62,83,106,115],"enable":[6],"robot":[7],"navigation":[8],"and":[9,52,113,123],"interaction":[10],"with":[11],"the":[12,24,70,99,102],"environment.":[13],"To":[14],"achieve":[15],"low":[16],"latency,":[17],"dense":[18],"typically":[21],"computed":[22],"onboard":[23],"robot,":[25],"often":[26],"on":[27],"computationally":[28],"constrained":[29],"hardware.":[30],"Previous":[31],"works":[32],"leave":[33],"a":[34,78,94,107,116],"gap":[35],"between":[36],"CPU-based":[37],"systems":[38,55],"for":[39],"robotic":[40,63,89],"mapping":[41],"which,":[42],"due":[43],"computation":[45,68],"constraints,":[46],"limit":[47],"map":[48],"resolution":[49],"or":[50],"scale,":[51],"GPU-based":[53],"reconstruction":[54],"which":[56],"omit":[57],"features":[58],"that":[59,81],"critical":[61],"path":[64],"planning,":[65],"such":[66],"as":[67],"of":[69,101],"Euclidean":[71],"Signed":[72],"Distance":[73],"Field":[74],"(ESDF).":[75],"We":[76],"introduce":[77],"library,":[79],"nvblox,":[80],"aims":[82],"fill":[84],"this":[85],"gap,":[86],"by":[87],"GPU-accelerating":[88],"mapping.":[91],"Nvblox":[92],"delivers":[93],"significant":[95],"performance":[96],"improvement":[97,118],"over":[98],"state":[100],"art,":[103],"achieving":[104],"up":[105,114],"177\u00d7":[108],"speed-up":[109],"in":[110,119],"surface":[111],"reconstruction,":[112],"31\u00d7":[117],"distance":[120],"field":[121],"computation,":[122],"is":[124],"available":[125],"open-source1.":[126]},"counts_by_year":[{"year":2026,"cited_by_count":35},{"year":2025,"cited_by_count":20},{"year":2024,"cited_by_count":11}],"updated_date":"2026-11-07T11:25:07.637180","created_date":"2024-08-09T00:00:00"}