{"id":"https://openalex.org/W4408901947","doi":"https://doi.org/10.1145/3676641.3716263","title":"OctoCache: Caching Voxels for Accelerating 3D Occupancy Mapping in Autonomous Systems","display_name":"OctoCache: Caching Voxels for Accelerating 3D Occupancy Mapping in Autonomous Systems","publication_year":2025,"publication_date":"2025-03-27","ids":{"openalex":"https://openalex.org/W4408901947","doi":"https://doi.org/10.1145/3676641.3716263"},"language":"en","primary_location":{"id":"doi:10.1145/3676641.3716263","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3676641.3716263","pdf_url":null,"source":null,"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 30th ACM International Conference on Architectural Support for Programming Languages and Operating Systems, Volume 2","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.1145/3676641.3716263","any_repository_has_fulltext":null},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Peiqing Chen","orcid":"https://orcid.org/0000-0002-8758-6029"},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Peiqing Chen","raw_affiliation_strings":["University of Maryland, College Park, MD, USA"],"raw_orcid":"https://orcid.org/0000-0002-8758-6029","affiliations":[{"raw_affiliation_string":"University of Maryland, College Park, MD, USA","institution_ids":["https://openalex.org/I66946132"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Minghao Li","orcid":"https://orcid.org/0009-0004-5321-9513"},"institutions":[{"id":"https://openalex.org/I2801851002","display_name":"Harvard University Press","ror":"https://ror.org/006v7bf86","country_code":"US","type":"other","lineage":["https://openalex.org/I136199984","https://openalex.org/I2801851002"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Minghao Li","raw_affiliation_strings":["Harvard University, Cambridge, MA, USA"],"raw_orcid":"https://orcid.org/0009-0004-5321-9513","affiliations":[{"raw_affiliation_string":"Harvard University, Cambridge, MA, USA","institution_ids":["https://openalex.org/I2801851002"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076856438","display_name":"Zishen Wan","orcid":"https://orcid.org/0000-0002-2982-5351"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zishen Wan","raw_affiliation_strings":["Georgia Institute of Technology, Atlanta, GA, USA"],"raw_orcid":"https://orcid.org/0000-0002-2982-5351","affiliations":[{"raw_affiliation_string":"Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028054402","display_name":"Yu-Shun Hsiao","orcid":"https://orcid.org/0000-0002-2580-9872"},"institutions":[{"id":"https://openalex.org/I2801851002","display_name":"Harvard University Press","ror":"https://ror.org/006v7bf86","country_code":"US","type":"other","lineage":["https://openalex.org/I136199984","https://openalex.org/I2801851002"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yu-Shun Hsiao","raw_affiliation_strings":["Harvard University, Cambridge, MA, USA"],"raw_orcid":"https://orcid.org/0000-0002-2580-9872","affiliations":[{"raw_affiliation_string":"Harvard University, Cambridge, MA, USA","institution_ids":["https://openalex.org/I2801851002"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035157838","display_name":"Minlan Yu","orcid":"https://orcid.org/0000-0002-2381-0212"},"institutions":[{"id":"https://openalex.org/I2801851002","display_name":"Harvard University Press","ror":"https://ror.org/006v7bf86","country_code":"US","type":"other","lineage":["https://openalex.org/I136199984","https://openalex.org/I2801851002"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Minlan Yu","raw_affiliation_strings":["Harvard University, Cambridge, MA, USA"],"raw_orcid":"https://orcid.org/0000-0002-2381-0212","affiliations":[{"raw_affiliation_string":"Harvard University, Cambridge, MA, USA","institution_ids":["https://openalex.org/I2801851002"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000635267","display_name":"Vijay Janapa Reddi","orcid":"https://orcid.org/0000-0002-5259-7721"},"institutions":[{"id":"https://openalex.org/I2801851002","display_name":"Harvard University Press","ror":"https://ror.org/006v7bf86","country_code":"US","type":"other","lineage":["https://openalex.org/I136199984","https://openalex.org/I2801851002"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Vijay Janapa Reddi","raw_affiliation_strings":["Harvard University, Cambridge, MA, USA"],"raw_orcid":"https://orcid.org/0000-0002-5259-7721","affiliations":[{"raw_affiliation_string":"Harvard University, Cambridge, MA, USA","institution_ids":["https://openalex.org/I2801851002"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5015818714","display_name":"Zaoxing Liu","orcid":"https://orcid.org/0000-0002-9119-1679"},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zaoxing Liu","raw_affiliation_strings":["University of Maryland, College Park, MD, USA"],"raw_orcid":"https://orcid.org/0000-0002-9119-1679","affiliations":[{"raw_affiliation_string":"University of Maryland, College Park, MD, USA","institution_ids":["https://openalex.org/I66946132"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I66946132"],"apc_list":null,"apc_paid":null,"fwci":13.7379,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.97926252,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"704","last_page":"718"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9984999895095825,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"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":0.9984999895095825,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12698","display_name":"3D Modeling in Geospatial Applications","score":0.9905999898910522,"subfield":{"id":"https://openalex.org/subfields/2215","display_name":"Building and Construction"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10888","display_name":"Augmented Reality Applications","score":0.977400004863739,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/occupancy","display_name":"Occupancy","score":0.8509913682937622},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7801213264465332},{"id":"https://openalex.org/keywords/voxel","display_name":"Voxel","score":0.7095137238502502},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2577134370803833},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.05811557173728943}],"concepts":[{"id":"https://openalex.org/C160331591","wikidata":"https://www.wikidata.org/wiki/Q7075743","display_name":"Occupancy","level":2,"score":0.8509913682937622},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7801213264465332},{"id":"https://openalex.org/C54170458","wikidata":"https://www.wikidata.org/wiki/Q663554","display_name":"Voxel","level":2,"score":0.7095137238502502},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2577134370803833},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.05811557173728943},{"id":"https://openalex.org/C170154142","wikidata":"https://www.wikidata.org/wiki/Q150737","display_name":"Architectural engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3676641.3716263","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3676641.3716263","pdf_url":null,"source":null,"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 30th ACM International Conference on Architectural Support for Programming Languages and Operating Systems, Volume 2","raw_type":"proceedings-article"}],"best_oa_location":{"id":"doi:10.1145/3676641.3716263","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3676641.3716263","pdf_url":null,"source":null,"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 30th ACM International Conference on Architectural Support for Programming Languages and Operating Systems, Volume 2","raw_type":"proceedings-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G8326576750","display_name":null,"funder_award_id":"CNS NeTS 2107078,CNS-2431093,CNS-2415758","funder_id":"https://openalex.org/F4320323817","funder_display_name":"Universitas Brawijaya"}],"funders":[{"id":"https://openalex.org/F4320323817","display_name":"Universitas Brawijaya","ror":"https://ror.org/01wk3d929"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":49,"referenced_works":["https://openalex.org/W605243474","https://openalex.org/W1545525778","https://openalex.org/W1939066154","https://openalex.org/W2016131544","https://openalex.org/W2020520924","https://openalex.org/W2047409847","https://openalex.org/W2060650801","https://openalex.org/W2068719509","https://openalex.org/W2080823437","https://openalex.org/W2085448325","https://openalex.org/W2131991591","https://openalex.org/W2133844819","https://openalex.org/W2151103652","https://openalex.org/W2152864241","https://openalex.org/W2215173806","https://openalex.org/W2413819886","https://openalex.org/W2621274416","https://openalex.org/W2899733099","https://openalex.org/W2950989657","https://openalex.org/W2963439316","https://openalex.org/W2963883849","https://openalex.org/W3011014040","https://openalex.org/W3012012823","https://openalex.org/W3047616003","https://openalex.org/W3090196020","https://openalex.org/W3103648783","https://openalex.org/W3153545263","https://openalex.org/W3155427222","https://openalex.org/W3165570441","https://openalex.org/W3203229917","https://openalex.org/W3207791991","https://openalex.org/W4205983429","https://openalex.org/W4206680800","https://openalex.org/W4221140087","https://openalex.org/W4256588830","https://openalex.org/W4283709177","https://openalex.org/W4304202640","https://openalex.org/W4376467034","https://openalex.org/W4376571587","https://openalex.org/W4385413541","https://openalex.org/W4394998734","https://openalex.org/W4394999049","https://openalex.org/W4401416203","https://openalex.org/W6631959887","https://openalex.org/W6633564594","https://openalex.org/W6634138237","https://openalex.org/W6637380139","https://openalex.org/W6679056045","https://openalex.org/W6738983210"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W4282043467","https://openalex.org/W2105697914","https://openalex.org/W2202433167","https://openalex.org/W3093197249","https://openalex.org/W1540010871","https://openalex.org/W3023979140","https://openalex.org/W3177545769"],"abstract_inverted_index":{"3D":[0,18,29,81,116],"mapping":[1,30,117],"systems":[2],"are":[3],"crucial":[4],"for":[5,36],"creating":[6],"digital":[7],"representations":[8],"of":[9,78],"physical":[10],"environments,":[11],"widely":[12],"used":[13],"in":[14,80,90,119],"autonomous":[15,120],"robot":[16],"navigation,":[17,121],"visualization,":[19],"and":[20,71,100,124],"AR/VR.":[21],"This":[22],"paper":[23],"focuses":[24],"on":[25],"OctoMap,":[26],"a":[27,55],"leading":[28],"framework":[31],"using":[32],"an":[33],"octree-based":[34],"structure":[35],"spatial":[37],"efficiency.":[38],"However,":[39],"OctoMap's":[40],"performance":[41],"is":[42],"limited":[43],"by":[44,105],"slow":[45],"updates":[46],"due":[47],"to":[48,86,97,107,114],"costly":[49],"memory":[50,65],"accesses.":[51],"We":[52],"introduce":[53],"OctoCache,":[54],"software":[56],"system":[57],"that":[58],"accelerates":[59],"OctoMap":[60],"through":[61],"(1)":[62],"optimized":[63],"cache":[64],"access,":[66],"(2)":[67],"refined":[68],"voxel":[69],"ordering,":[70],"(3)":[72],"workflow":[73],"parallelization.":[74],"OctoCache":[75,94],"achieves":[76],"speedups":[77],"45.63%~88.01%":[79],"environment":[82],"construction":[83],"tasks":[84],"compared":[85],"standard":[87],"OctoMap.":[88],"Deployed":[89],"UAV":[91],"navigation":[92],"scenarios,":[93],"demonstrates":[95],"up":[96,106],"3.02\u00d7":[98],"speedup":[99],"reduces":[101],"mission":[102],"completion":[103],"time":[104],"28%.":[108],"These":[109],"results":[110],"highlight":[111],"OctoCache's":[112],"potential":[113],"enhance":[115],"efficiency":[118],"advancing":[122],"robotics":[123],"environmental":[125],"modeling.":[126]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2}],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2025-10-10T00:00:00"}