  In this work we present a fast occupancy map building approach based on the
VDB datastructure. Existing log-odds based occupancy mapping systems are often
not able to keep up with the high point densities and framerates of modern
sensors. Therefore, we suggest a highly optimized approach based on a modern
datastructure coming from a computer graphic background. A multithreaded
insertion scheme allows occupancy map building at unprecedented speed. Multiple
optimizations allow for a customizable tradeoff between runtime and map
quality. We first demonstrate the effectiveness of the approach quantitatively
on a set of ablation studies and typical benchmark sets, before we practically
demonstrate the system using a legged robot and a UAV.
