Elevation maps are commonly used to represent the environment of mobile
robots and are instrumental for locomotion and navigation tasks. However, pure
geometric information is insufficient for many field applications that require
appearance or semantic information, which limits their applicability to other
platforms or domains. In this work, we extend a 2.5D robot-centric elevation
mapping framework by fusing multi-modal information from multiple sources into
a popular map representation. The framework allows inputting data contained in
point clouds or images in a unified manner. To manage the different nature of
the data, we also present a set of fusion algorithms that can be selected based
on the information type and user requirements. Our system is designed to run on
the GPU, making it real-time capable for various robotic and learning tasks. We
demonstrate the capabilities of our framework by deploying it on multiple
robots with varying sensor configurations and showcasing a range of
applications that utilize multi-modal layers, including line detection, human
detection, and colorization.

本文扩展了一个 2.5D 机器人中心的高程图绘制框架，通过融合多源的多模态信息到流行的地图表示形式，解决纯几何信息在许多领域应用中不足的问题，并通过 GPU 实现实时处理能力，展示了多种应用场景。