Memory-Efficient Boundary Map for Large-Scale Occupancy Grid Mapping

The International Journal of Robotics Research (IJRR)' 26

Benxu Tang, Yunfan Ren, Yixi Cai, Fanze Kong, Wenyi Liu, Fangcheng Zhu, Longji Yin, Liuyu Shi
and Fu Zhang

Updates

• The code will be released very soon...
• March. 2, 2026 - The final paper is now featured on Sage Journals.
• Jan. 27, 2026 - 🎉 Our paper has been accepted by IJRR!

The accepted manuscript is also aviliable at here. The final version is available at Sage Journals

Highlight

Here is a visualization of the boundary map after the real-world navigation task. (Click to view the full navigation demo video)