# Occupancy Mapping on kitti 02 (Update Time) Source: [Occupancy Mapping on kitti 02 (Update Time)]() Collection index: [llms.txt]() Data updated: 2026-04-15T08:52:33.525Z Evaluation of Occupancy Mapping performance on the kitti 02 dataset, focusing on the time required for map updates. 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) | kitti 02 | | Metric | Map Update Time (ms) | | Unit | TIME | | Direction | Lower is better | | Results loaded | 19 of 19 | | 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 | 10.92 | Not recorded | 69df1b7a7d0172140ec7b837 | | D-Map | 15.44 | Not recorded | 69df1b7a7d0172140ec7b837 | | D-BDM | 16.5 | Not recorded | 69df1b7a7d0172140ec7b837 | | Uniform Grid | 28.07 | Not recorded | 69df1b7a7d0172140ec7b837 | | D-BDM | 28.09 | Not recorded | 69df1b7a7d0172140ec7b837 | | BoundaryMap | 28.53 | Not recorded | 69df1b7a7d0172140ec7b837 | | D-Map | 30.87 | Not recorded | 69df1b7a7d0172140ec7b837 | | Uniform Grid | 42.44 | Not recorded | 69df1b7a7d0172140ec7b837 | | BoundaryMap | 46.06 | Not recorded | 69df1b7a7d0172140ec7b837 | | D-Map | 50.61 | Not recorded | 69df1b7a7d0172140ec7b837 | | Uniform Grid | 64.19 | Not recorded | 69df1b7a7d0172140ec7b837 | | BoundaryMap | 70.33 | Not recorded | 69df1b7a7d0172140ec7b837 | | D-BDM | 73.72 | Not recorded | 69df1b7a7d0172140ec7b837 | | D-Map | 91.72 | Not recorded | 69df1b7a7d0172140ec7b837 | | BoundaryMap | 175.42 | Not recorded | 69df1b7a7d0172140ec7b837 | | OctoMap | 241.45 | Not recorded | 69df1b7a7d0172140ec7b837 | | OctoMap | 382.5 | Not recorded | 69df1b7a7d0172140ec7b837 | | OctoMap | 529.96 | Not recorded | 69df1b7a7d0172140ec7b837 | | OctoMap | 1013.79 | Not recorded | 69df1b7a7d0172140ec7b837 | ### D-BDM Map Update Time (ms): 10.92. Result ID: 69df509547f34ce924c82bee. [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): 15.44. Result ID: 69df509547f34ce924c82be6. [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): 16.5. Result ID: 69df509547f34ce924c82bef. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Resolution (m)":"0.3"}. This record does not assert independent reproduction. ### Uniform Grid Map Update Time (ms): 28.07. Result ID: 69df509547f34ce924c82bdf. [Reporting paper]() Recorded evaluation configuration: {"Resolution (m)":"0.5"}. This record does not assert independent reproduction. ### D-BDM Map Update Time (ms): 28.09. Result ID: 69df509547f34ce924c82bf0. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Resolution (m)":"0.2"}. This record does not assert independent reproduction. ### BoundaryMap Map Update Time (ms): 28.53. Result ID: 69df509547f34ce924c82bea. [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): 30.87. Result ID: 69df509547f34ce924c82be7. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Resolution (m)":"0.3"}. This record does not assert independent reproduction. ### Uniform Grid Map Update Time (ms): 42.44. Result ID: 69df509547f34ce924c82be0. [Reporting paper]() Recorded evaluation configuration: {"Resolution (m)":"0.3"}. This record does not assert independent reproduction. ### BoundaryMap Map Update Time (ms): 46.06. Result ID: 69df509547f34ce924c82beb. [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): 50.61. Result ID: 69df509547f34ce924c82be8. [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): 64.19. Result ID: 69df509547f34ce924c82be1. [Reporting paper]() Recorded evaluation configuration: {"Resolution (m)":"0.2"}. This record does not assert independent reproduction. ### BoundaryMap Map Update Time (ms): 70.33. Result ID: 69df509547f34ce924c82bec. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Resolution (m)":"0.2"}. This record does not assert independent reproduction. ### D-BDM Map Update Time (ms): 73.72. Result ID: 69df509547f34ce924c82bf1. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Resolution (m)":"0.1"}. This record does not assert independent reproduction. ### D-Map Map Update Time (ms): 91.72. Result ID: 69df509547f34ce924c82be9. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Resolution (m)":"0.1"}. This record does not assert independent reproduction. ### BoundaryMap Map Update Time (ms): 175.42. Result ID: 69df509547f34ce924c82bed. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Resolution (m)":"0.1"}. This record does not assert independent reproduction. ### OctoMap Map Update Time (ms): 241.45. Result ID: 69df509547f34ce924c82be2. [Reporting paper]() Recorded evaluation configuration: {"Resolution (m)":"0.5"}. This record does not assert independent reproduction. ### OctoMap Map Update Time (ms): 382.5. Result ID: 69df509547f34ce924c82be3. [Reporting paper]() Recorded evaluation configuration: {"Resolution (m)":"0.3"}. This record does not assert independent reproduction. ### OctoMap Map Update Time (ms): 529.96. Result ID: 69df509547f34ce924c82be4. [Reporting paper]() Recorded evaluation configuration: {"Resolution (m)":"0.2"}. This record does not assert independent reproduction. ### OctoMap Map Update Time (ms): 1013.79. Result ID: 69df509547f34ce924c82be5. [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.