This paper presents a high-efficiency, CPU-only volumetric mapping framework based on a Truncated Signed Distance Field (TSDF). The system incrementally fuses raw LiDAR point-cloud data into a voxel grid using a directional bitmask-based integration scheme, producing dense and consistent TSDF representations suitable for real-time 3D reconstruction. A key feature of the approach is that the processing time per point-cloud remains constant, regardless of the voxel grid resolution, enabling high resolution mapping without sacrificing runtime performance. In contrast to most recent TSDF/ESDF methods that rely on GPU acceleration, our method operates entirely on CPU, achieving competitive results in speed. Experiments on real-world open datasets demonstrate that the generated maps attain accuracy on par with contemporary mapping techniques.
Cite
@article{arxiv.2509.20081,
title = {DB-TSDF: Directional Bitmask-based Truncated Signed Distance Fields for Efficient Volumetric Mapping},
author = {Jose E. Maese and Luis Merino and Fernando Caballero},
journal= {arXiv preprint arXiv:2509.20081},
year = {2025}
}