gary-robotics / i-octee

i-Octree: A Fast, Lightweight, and Dynamic Octree for Proximity Search

i-Octree is a dynamic octree data structure that supports both fast nearest neighbor search and real-time dynamic updates, such as point insertion, deletion, and on-tree down-sampling. The i-Octree is built upon a leaf-based octree and has two key features: a local spatially continuous storing strategy that allows for fast access to points while minimizing memory usage, and local on-tree updates that significantly reduce computation time compared to existing static or dynamic tree structures.

Features

• Dynamically insert points to the tree.
• Delete points inside given axis-aligned bounding boxes.
• Fast k-nearest neighbors search.
• Fast radius neighbors search.
• Fully templated for maximal flexibility to support arbitrary point representations & containers.

Run Randomized Data Experiments

1. Build

git clone [e-mail]:zhujun3753/i-octee.git

# For Comparison
cd i-octree
git clone [e-mail]:hku-mars/ikd-Tree.git

# Build & Run
bash run.sh

# Plot Results
python plot_time.py

2. Results

Attribution

If you use the implementation or ideas from the corresponding paper in your academic work, it would be nice if you cite the corresponding paper:

@misc{zhu2023ioctree,
      title={i-Octree: A Fast, Lightweight, and Dynamic Octree for Proximity Search}, 
      author={Jun Zhu and Hongyi Li and Shengjie Wang and Zhepeng Wang and Tao Zhang},
      year={2023},
      eprint={2309.08315},
      archivePrefix={arXiv},
      primaryClass={cs.RO}
}

Acknowledgement

Thanks to Jens Behley for open-sourcing his excellent work octree.

License

The source code of ikd-Tree is released under GPLv2 license. For commercial use, please contact Mr. Jun ZHU ([e-mail]) or Dr. Tao ZHANG ([e-mail]).