“…Although the mapping task seems to be a solved research problem in the literature, it relies on strong assumptions, such as memory availability of several gigabytes and powerful processor, e.g., the Intel i7 family [35], [37]. Moreover, carrying heavy and power-hungry 3D scanners, such as stereo cameras and LiDARs, is not considered a limitation for conventional robotic applications [35]- [37]. However, these assumptions do not hold for miniaturized and low-power robotic platforms, where the hardware cost is a concern, the payload is limited to a few tens of grams, and the computation power budget is limited to hundreds of mW [7], [11], [38].…”