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Perceiving the surrounding environment is crucial for autonomous mobilerobots. An elevation map provides a memory-efficient and simple yet powerfulgeometric representation for ground robots. The robots can use this informationfor navigation in an unknown environment or perceptive locomotion control overrough terrain. Depending on the application, various post processing steps maybe incorporated, such as smoothing, inpainting or plane segmentation. In thiswork, we present an elevation mapping pipeline leveraging GPU for fast andefficient processing with additional features both for navigation andlocomotion. We demonstrated our mapping framework through extensive hardwareexperiments. Our mapping software was successfully deployed for undergroundexploration during DARPA Subterranean Challenge and for various experiments ofquadrupedal locomotion.

Elevation Mapping for Locomotion and Navigation using GPU