# Occupancy Mapping on KAIST 04 (Map Update Time) Source: [Occupancy Mapping on KAIST 04 (Map Update Time)]() Collection index: [llms.txt]() Data updated: 2026-04-15T08:52:33.408Z Evaluation of Occupancy Mapping performance on the KAIST 04 dataset, reporting Map Update Time. A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage. | Scope | Recorded value | | --- | --- | | Task | Occupancy Mapping | | Dataset (including any stated split) | KAIST 04 | | Metric | Map Update Time (ms) | | Unit | TIME | | Direction | Lower is better | | Results loaded | 18 of 18 | | Coverage | All results currently returned for this benchmark | Evaluation settings may differ between results. The original papers and recorded configurations are needed to establish comparability. A shared metric name alone does not establish an identical protocol. ## Metrics - [Map Update Time (ms)](): Lower is better; unit: TIME. ## Recorded results | Method | Map Update Time (ms) | Result date | Report paper | | --- | --- | --- | --- | | D-BDM | 10.8 | Not recorded | 69df1b7a7d0172140ec7b837 | | D-Map | 11.15 | Not recorded | 69df1b7a7d0172140ec7b837 | | D-BDM | 17.35 | Not recorded | 69df1b7a7d0172140ec7b837 | | D-Map | 17.59 | Not recorded | 69df1b7a7d0172140ec7b837 | | D-BDM | 27.78 | Not recorded | 69df1b7a7d0172140ec7b837 | | D-Map | 37.47 | Not recorded | 69df1b7a7d0172140ec7b837 | | Uniform Grid | 40.76 | Not recorded | 69df1b7a7d0172140ec7b837 | | BoundaryMap | 42.28 | Not recorded | 69df1b7a7d0172140ec7b837 | | Uniform Grid | 63.21 | Not recorded | 69df1b7a7d0172140ec7b837 | | BoundaryMap | 71.22 | Not recorded | 69df1b7a7d0172140ec7b837 | | D-BDM | 92.24 | Not recorded | 69df1b7a7d0172140ec7b837 | | BoundaryMap | 113.7 | Not recorded | 69df1b7a7d0172140ec7b837 | | D-Map | 143.51 | Not recorded | 69df1b7a7d0172140ec7b837 | | OctoMap | 318.05 | Not recorded | 69df1b7a7d0172140ec7b837 | | BoundaryMap | 406.04 | Not recorded | 69df1b7a7d0172140ec7b837 | | OctoMap | 521.19 | Not recorded | 69df1b7a7d0172140ec7b837 | | OctoMap | 766.74 | Not recorded | 69df1b7a7d0172140ec7b837 | | OctoMap | 1561.84 | Not recorded | 69df1b7a7d0172140ec7b837 | ### D-BDM Map Update Time (ms): 10.8. Result ID: 69df509547f34ce924c82ba5. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Resolution (m)":"0.5"}. This record does not assert independent reproduction. ### D-Map Map Update Time (ms): 11.15. Result ID: 69df509547f34ce924c82b9d. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Resolution (m)":"0.5"}. This record does not assert independent reproduction. ### D-BDM Map Update Time (ms): 17.35. Result ID: 69df509547f34ce924c82ba6. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Resolution (m)":"0.3"}. This record does not assert independent reproduction. ### D-Map Map Update Time (ms): 17.59. Result ID: 69df509547f34ce924c82b9e. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Resolution (m)":"0.3"}. This record does not assert independent reproduction. ### D-BDM Map Update Time (ms): 27.78. Result ID: 69df509547f34ce924c82ba7. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Resolution (m)":"0.2"}. This record does not assert independent reproduction. ### D-Map Map Update Time (ms): 37.47. Result ID: 69df509547f34ce924c82b9f. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Resolution (m)":"0.2"}. This record does not assert independent reproduction. ### Uniform Grid Map Update Time (ms): 40.76. Result ID: 69df509547f34ce924c82b97. [Reporting paper]() Recorded evaluation configuration: {"Resolution (m)":"0.5"}. This record does not assert independent reproduction. ### BoundaryMap Map Update Time (ms): 42.28. Result ID: 69df509547f34ce924c82ba1. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Resolution (m)":"0.5"}. This record does not assert independent reproduction. ### Uniform Grid Map Update Time (ms): 63.21. Result ID: 69df509547f34ce924c82b98. [Reporting paper]() Recorded evaluation configuration: {"Resolution (m)":"0.3"}. This record does not assert independent reproduction. ### BoundaryMap Map Update Time (ms): 71.22. Result ID: 69df509547f34ce924c82ba2. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Resolution (m)":"0.3"}. This record does not assert independent reproduction. ### D-BDM Map Update Time (ms): 92.24. Result ID: 69df509547f34ce924c82ba8. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Resolution (m)":"0.1"}. This record does not assert independent reproduction. ### BoundaryMap Map Update Time (ms): 113.7. Result ID: 69df509547f34ce924c82ba3. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Resolution (m)":"0.2"}. This record does not assert independent reproduction. ### D-Map Map Update Time (ms): 143.51. Result ID: 69df509547f34ce924c82ba0. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Resolution (m)":"0.1"}. This record does not assert independent reproduction. ### OctoMap Map Update Time (ms): 318.05. Result ID: 69df509547f34ce924c82b99. [Reporting paper]() Recorded evaluation configuration: {"Resolution (m)":"0.5"}. This record does not assert independent reproduction. ### BoundaryMap Map Update Time (ms): 406.04. Result ID: 69df509547f34ce924c82ba4. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Resolution (m)":"0.1"}. This record does not assert independent reproduction. ### OctoMap Map Update Time (ms): 521.19. Result ID: 69df509547f34ce924c82b9a. [Reporting paper]() Recorded evaluation configuration: {"Resolution (m)":"0.3"}. This record does not assert independent reproduction. ### OctoMap Map Update Time (ms): 766.74. Result ID: 69df509547f34ce924c82b9b. [Reporting paper]() Recorded evaluation configuration: {"Resolution (m)":"0.2"}. This record does not assert independent reproduction. ### OctoMap Map Update Time (ms): 1561.84. Result ID: 69df509547f34ce924c82b9c. [Reporting paper]() Recorded evaluation configuration: {"Resolution (m)":"0.1"}. This record does not assert independent reproduction. Page 1 of 1. This is an index page, not the full collection.