This is the Doxygen Documentation of the GPU-Voxels Library

Release 1.0

If you read this out of Doxygen context, run make doc in your build directory and have a look into the doc folder.

The whole software package is available as OpenSource Software at GitHub:

Please post questions and bugreports to our GITHub Issue tracker!

Up to date Doxygen Pages can also be found at:

We are working hard on pushing the code quality from “Research” to “Reuse”.
Nevertheless, we still see the release as experimental!

Please let us know if you are using the GPU-Voxels library, as we are curious to find out how it enables other people’s work or research.
Additionally, please cite our paper if you use GPU-Voxels in your research:
A. Hermann, F. Drews, J. Bauer, S. Klemm, A. Roennau and R. Dillmann,
Unified GPU Voxel Collision Detection for Mobile Manipulation Planning
in Intelligent Robots and Systems (IROS 2014)
DOI 10.1109/IROS.2014.6943148

If you think, that you could push this project in whatever way, don’t hesitate to contact us any time!

The GPU-Voxels library was developed at the FZI Forschungszentrum Informatik, Karlsruhe.

Example applications can be found in the examples folder. After starting an example, launch gpu_voxels_visualizer for an interactive 3D-View of the scene.