DB-TSDF: Directional Bitmask-based Truncated Signed Distance Fields for Efficient Volumetric Mapping

A lightweight CPU-only volumetric mapping system based on Truncated Signed Distance Fields (TSDF).
It integrates LiDAR point clouds into a voxel grid using directional kernels and bitmask encoding, enabling real-time 3D reconstruction without GPU acceleration.

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Overview

This framework incrementally fuses LiDAR data into a dense voxel grid:

• Directional kernels model LiDAR beam geometry and occlusion.
• Bitmask encoding ensures constant-time updates per scan.
• Signed distance representation differentiates free and occupied space.
• Multi-threaded C++ implementation inside ROS 2.

The design emphasizes predictable runtime, high resolution, and full CPU compatibility, making it suitable for robotic platforms where GPU resources are limited.