D-BDM reduces update time and memory in LiDAR 3D occupancy mapping by restricting ray casting to boundary exteriors and enabling direct boundary updates.
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GATO is a new batched GPU trajectory optimization solver that achieves real-time MPC throughput with 18-21x speedups over CPU baselines for tens to low-hundreds of simultaneous solves.
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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.
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GATO: GPU-Accelerated and Batched Trajectory Optimization for Scalable Edge Model Predictive Control
GATO is a new batched GPU trajectory optimization solver that achieves real-time MPC throughput with 18-21x speedups over CPU baselines for tens to low-hundreds of simultaneous solves.