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


After downloading, please have a look at the Documentation for Building the library
and post to the BugTracker on GitHub, if you experience any problems!

We are working hard on pushing the code quality from “Research” to “Reuse”.
Nevertheless, we still see the release as experimental! If you find bugs, please post them on the Issue tracker in GitHub.

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 forward in whatever way, don’t hesitate to contact us any time!

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