@article{realtimemultiplanesegmentationbasedongpu,
  title = {Real-time Multi-Plane Segmentation Based on GPU Accelerated High-Resolution 3D Voxel Mapping for Legged Robot Locomotion},
  author = {Shun Niijima and Ryoichi Tsuzaki and Noriaki Takasugi and Masaya Kinoshita},
  year = {2025},
  eprint = {2510.01592},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2510.01592},
}