Skip to content

Map Storage Library

TUM Autonomous Motorsport package for modular storage of point cloud map

The map handler stores the point cloud map and answers nearest-neighbor queries for registration. It also supports incremental updates (adding registered frames, removing far points) for the online-mapping mode and computes per-point normals/covariances for GICP.

Implemented Map Formats

  1. VOXELHASHMAP

    • hashes points into fixed-size voxels (bounded points per voxel) for O(1) insertion and neighbor lookup, based on KISS-ICP
    • CPU implementation backed by robin_map

  2. CUDA_VOXELHASHMAP

    • GPU-resident equivalent using the cuco::static_map type of cuCollections, keeping the map on the device so insertion and neighbor search run in parallel without host transfers