3D Occupancy Mapping on Room, Soulcity, and Gascola
88Map Construction Throughput (fps)Gleanmer
Evaluation Results
| Method | Links | ||||
|---|---|---|---|---|---|
| GleanmerTechnology=16 nm, Compute Platform=ASIC, Mapping Framework=GMMap [7], Chip Area=4 mm², Core Area=2.6 mm², Supply Voltage=0.85 V (construction) 0.95 V (query), Operating Frequency=125 MHz (construction) 250 MHz (query), On-chip Memory=622 KB2026.03 | 88 | 540 | 4.5 | 5.7 | |
| OMUTechnology=12 nm, Compute Platform=ASIC, Mapping Framework=OctoMap [2], Core Area=2.5 mm², Supply Voltage=0.8 V, Operating Frequency=1 GHz, On-chip Memory=2 MB2026.03 | 61 | — | 251 | — | |
| NVIDIA Jetson TX2Technology=16 nm, Compute Platform=ARM Cortex A57 CPU & 256-Core GPU, Mapping Framework=GMMap [7], Supply Voltage=20 V, Operating Frequency=CPU: 0.4 - 2 GHz; GPU: 0.9 – 1.3 GHz2026.03 | 44 | 500 | 4.7 | 2 | |
| NVIDIA Jetson TX2Technology=16 nm, Compute Platform=ARM Cortex A57 CPU, Mapping Framework=GMMap [7], Supply Voltage=20 V, Operating Frequency=CPU: 0.4 - 2 GHz2026.03 | 32 | 500 | 3.1 | 2 |