mlsanityData to 7 Oct 2026

nvblox: GPU-Accelerated Incremental Signed Distance Field Mapping

arXiv 2311.00626 ↗First posted 1 Nov 2023cs.ROcited by 23

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Abstract (arXiv)

Dense, volumetric maps are essential to enable robot navigation and interaction with the environment. To achieve low latency, dense maps are typically computed onboard the robot, often on computationally constrained hardware. Previous works leave a gap between CPU-based systems for robotic mapping which, due to computation constraints, limit map resolution or scale, and GPU-based reconstruction systems which omit features that are critical to robotic path planning, such as computation of the Euclidean Signed Distance Field (ESDF). We introduce a library, nvblox, that aims to fill this gap, by GPU-accelerating robotic volumetric mapping. Nvblox delivers a significant performance improvement over the state of the art, achieving up to a 177x speed-up in surface reconstruction, and up to a 31x improvement in distance field computation, and is available open-source.

Key facts. Cited by 23 papers in the map (data through 7 Oct 2026). First posted on arXiv 1 Nov 2023.

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2024: 3; 2025: 10; 2026: 10.

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  1. 2024ReKep: Spatio-Temporal Reasoning of Relational Keypoint Constraints for Robotic Manipulationcited by 305
  2. 2025MoManipVLA: Transferring Vision-language-action Models for General Mobile Manipulationcited by 34
  3. 2024Motion Planning Diffusion: Learning and Adapting Robot Motion Planning with Diffusion Modelscited by 32
  4. 2025GraspGen: A Diffusion-based Framework for 6-DOF Grasping with On-Generator Trainingcited by 32
  5. 2025Mem2Ego: Empowering Vision-Language Models with Global-to-Ego Memory for Long-Horizon Embodied Navigationcited by 30
  6. 2025cuVSLAM: CUDA accelerated visual odometry and mappingcited by 3
  7. 2024Real-Time Metric-Semantic Mapping for Autonomous Navigation in Outdoor Environmentscited by 2
  8. 2025A Design Co-Pilot for Task-Tailored Manipulatorscited by 2
  9. 2026Offload or Overload: A Platform Measurement Study of Mobile Robotic Manipulation Workloadscited by 2
  10. 2025Grasp-MPC: Closed-Loop Visual Grasping via Value-Guided Model Predictive Controlcited by 1
  11. 2025OREN: Octree Residual Network for Real-Time Euclidean Signed Distance Mappingcited by 1
  12. 2025Development and Testing for Perception Based Autonomous Landing of a Long-Range QuadPlanecited by 1
11 more
  1. 2026Toward Generalist Neural Motion Planners for Robotic Manipulators: Challenges and Opportunitiescited by 1
  2. 2025Splatblox: Traversability-Aware Gaussian Splatting for Outdoor Robot Navigationcited by 0
  3. 2025XGrid-Mapping: Explicit Implicit Hybrid Grid Submaps for Efficient Incremental Neural LiDAR Mappingcited by 0
  4. 2026Language-Guided Grasping under Partial Observation for Mobile Manipulation in Field Inspection and Maintenancecited by 0
  5. 2026Fus3D: Decoding Consolidated 3D Geometry from Feed-forward Geometry Transformer Latentscited by 0
  6. 2026Enhancing Glass Surface Reconstruction via Depth Prior for Robot Navigationcited by 0
  7. 2026BayesFP: Posterior Estimation for Flow-Based Policies via Feynman-Kac Samplingcited by 0
  8. 2026From Perception to Assistance: Open-Vocabulary Shared Autonomy for Robotic Manipulationcited by 0
  9. 2026From Distances to Trajectories: Real-Time Signed Distance Function Mapping and Distance-Accelerated Motion Planning for UAVscited by 0
  10. 2026Accelerating Large-scale Bundle Adjustment for LiDAR Mapping via Parallel Computingcited by 0
  11. 2026Zero-Shot Reactive Obstacle Avoidance for Generative Robot Policiescited by 0