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In this paper, we investigate the massive parallelization of the evaluation of particles in truncated signed distance fields for three-dimensional laser scanners on embedded GPUs. In addition to providing a reference implementation, we compare two different parallelization schemes and compare the results to a CPU baseline. The results show that the GPU is up to 30 times faster and more than 50 times as energy efficient as the CPU implementation. <\/jats:p>","DOI":"10.1142\/s1793351x25410053","type":"journal-article","created":{"date-parts":[[2025,3,7]],"date-time":"2025-03-07T15:09:42Z","timestamp":1741360182000},"page":"105-125","source":"Crossref","is-referenced-by-count":0,"title":["Efficient Global 6D Localization in 3D TSDF Maps Using Point-wise and Scan-wise Reduction Methods on Embedded GPUs"],"prefix":"10.1142","volume":"19","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-8285-6093","authenticated-orcid":false,"given":"Marc","family":"Eisoldt","sequence":"first","affiliation":[{"name":"Computer Engineering Group, Institute of Computer Science, Osnabr\u00fcck University, Osnabr\u00fcck, Germany"}]},{"ORCID":"https:\/\/orcid.org\/0009-0004-7800-9774","authenticated-orcid":false,"given":"Alexander","family":"Mock","sequence":"additional","affiliation":[{"name":"Knowledge Based Systems Group, Institute of Computer Science, Osnabr\u00fcck University, Osnabr\u00fcck, Germany"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0710-872X","authenticated-orcid":false,"given":"Thomas","family":"Wiemann","sequence":"additional","affiliation":[{"name":"Department of Applied Computer Science, Robotics in Computer Science, Fulda University of Applied Sciences, Fulda, Germany"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1005-5753","authenticated-orcid":false,"given":"Mario","family":"Porrmann","sequence":"additional","affiliation":[{"name":"Computer Engineering Group, Institute of Computer Science, Osnabr\u00fcck University, Osnabr\u00fcck, Germany"}]}],"member":"219","published-online":{"date-parts":[[2025,4,21]]},"reference":[{"key":"S1793351X25410053BIB001","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2022.104205"},{"key":"S1793351X25410053BIB002","doi-asserted-by":"publisher","DOI":"10.1145\/3579170.3579266"},{"key":"S1793351X25410053BIB003","doi-asserted-by":"publisher","DOI":"10.1109\/IRC59093.2023.00035"},{"key":"S1793351X25410053BIB004","first-page":"343","volume-title":"Proc. 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