# Occupancy Mapping on Town 03 (Map Update Time) Source: [Occupancy Mapping on Town 03 (Map Update Time)]() Collection index: [llms.txt]() Data updated: 2026-04-15T08:52:33.443Z Evaluation of Occupancy Mapping performance on the Town 03 dataset, reporting Map Update Time (ms). 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) | Town 03 | | 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 | 10.3 | Not recorded | 69df1b7a7d0172140ec7b837 | | D-Map | 11.75 | Not recorded | 69df1b7a7d0172140ec7b837 | | D-BDM | 15.74 | Not recorded | 69df1b7a7d0172140ec7b837 | | D-Map | 19.4 | Not recorded | 69df1b7a7d0172140ec7b837 | | D-BDM | 26.18 | Not recorded | 69df1b7a7d0172140ec7b837 | | Uniform Grid | 35.38 | Not recorded | 69df1b7a7d0172140ec7b837 | | BoundaryMap | 36.56 | Not recorded | 69df1b7a7d0172140ec7b837 | | D-Map | 47.48 | Not recorded | 69df1b7a7d0172140ec7b837 | | Uniform Grid | 55.03 | Not recorded | 69df1b7a7d0172140ec7b837 | | BoundaryMap | 60.4 | Not recorded | 69df1b7a7d0172140ec7b837 | | D-BDM | 76.72 | Not recorded | 69df1b7a7d0172140ec7b837 | | BoundaryMap | 92.11 | Not recorded | 69df1b7a7d0172140ec7b837 | | D-Map | 211.82 | Not recorded | 69df1b7a7d0172140ec7b837 | | OctoMap | 289.03 | Not recorded | 69df1b7a7d0172140ec7b837 | | BoundaryMap | 306.6 | Not recorded | 69df1b7a7d0172140ec7b837 | | OctoMap | 492.12 | Not recorded | 69df1b7a7d0172140ec7b837 | | OctoMap | 687.59 | Not recorded | 69df1b7a7d0172140ec7b837 | | OctoMap | 1399.87 | Not recorded | 69df1b7a7d0172140ec7b837 | ### D-BDM Map Update Time (ms): 10.3. Result ID: 69df509547f34ce924c82bb7. [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): 11.75. Result ID: 69df509547f34ce924c82baf. [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): 15.74. Result ID: 69df509547f34ce924c82bb8. [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): 19.4. Result ID: 69df509547f34ce924c82bb0. [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): 26.18. Result ID: 69df509547f34ce924c82bb9. [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): 35.38. Result ID: 69df509547f34ce924c82ba9. [Reporting paper]() Recorded evaluation configuration: {"Resolution (m)":"0.5"}. This record does not assert independent reproduction. ### BoundaryMap Map Update Time (ms): 36.56. Result ID: 69df509547f34ce924c82bb3. [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): 47.48. Result ID: 69df509547f34ce924c82bb1. [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): 55.03. Result ID: 69df509547f34ce924c82baa. [Reporting paper]() Recorded evaluation configuration: {"Resolution (m)":"0.3"}. This record does not assert independent reproduction. ### BoundaryMap Map Update Time (ms): 60.4. Result ID: 69df509547f34ce924c82bb4. [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): 76.72. Result ID: 69df509547f34ce924c82bba. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Resolution (m)":"0.1"}. This record does not assert independent reproduction. ### BoundaryMap Map Update Time (ms): 92.11. Result ID: 69df509547f34ce924c82bb5. [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): 211.82. Result ID: 69df509547f34ce924c82bb2. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Resolution (m)":"0.1"}. This record does not assert independent reproduction. ### OctoMap Map Update Time (ms): 289.03. Result ID: 69df509547f34ce924c82bab. [Reporting paper]() Recorded evaluation configuration: {"Resolution (m)":"0.5"}. This record does not assert independent reproduction. ### BoundaryMap Map Update Time (ms): 306.6. Result ID: 69df509547f34ce924c82bb6. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Resolution (m)":"0.1"}. This record does not assert independent reproduction. ### OctoMap Map Update Time (ms): 492.12. Result ID: 69df509547f34ce924c82bac. [Reporting paper]() Recorded evaluation configuration: {"Resolution (m)":"0.3"}. This record does not assert independent reproduction. ### OctoMap Map Update Time (ms): 687.59. Result ID: 69df509547f34ce924c82bad. [Reporting paper]() Recorded evaluation configuration: {"Resolution (m)":"0.2"}. This record does not assert independent reproduction. ### OctoMap Map Update Time (ms): 1399.87. Result ID: 69df509547f34ce924c82bae. [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.