GPU SDF library for robots with RGB-D cameras
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nvblox is a C++ library for GPU-accelerated Signed Distance Field (SDF) mapping, designed for robots equipped with RGB-D cameras. It offers efficient TSDF and ESDF construction, occupancy mapping, and meshing, targeting robotics researchers and developers who need high-performance 3D reconstruction for tasks like path planning and real-time mapping on embedded systems.
How It Works
nvblox leverages GPU acceleration for its core mapping algorithms, including incremental TSDF and ESDF construction. This approach significantly outperforms CPU-based methods like its predecessors voxblox and voxgraph, enabling higher map resolutions and faster processing. The library is designed with extensibility in mind, allowing for custom voxel types and providing a C++ interface for integration into larger projects.
Quick Start & Requirements
git
, jq
, gnupg
, apt-utils
, software-properties-common
, build-essential
, python3-pip
, wget
, git-lfs
. CMake 3.22.1 is required and will be installed if not present.Highlighted Details
Maintenance & Community
The project is developed by NVIDIA. Further community engagement details are not explicitly provided in the README.
Licensing & Compatibility
Limitations & Caveats
The library is primarily tested on Ubuntu 20.04. CUDA versions outside the 11.0-12.6 range may not be supported. Visualization within Docker may require specific X11 forwarding configurations and does not work over SSH.
3 days ago
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