Memory-efficient boundary map for large-scale occupancy grid mapping

Benxu Tang, Yunfan Ren, Yixi Cai, Fanze Kong, Wenyi Liu, Fangcheng Zhu, Longji Yin, Liuyu Shi, Fu Zhang, Mechatronics and Robotic Systems , Department of Mechanical Engineering, University of Hong Kong, Hong Kong SAR, Department of Robotics, and Learning, KTH Royal Institute of Technology

The International Journal of Robotics Research

Published online on February 27, 2026

Abstract

The International Journal of Robotics Research, Ahead of Print.
Determining the occupancy status of locations in the environment is a fundamental task for safety-critical robotic applications. Traditional occupancy grid mapping methods subdivide the environment into a grid of voxels, each associated with one of three ...