Hi @ahornung

I saw issue #29 and wasn't interested in the GPU-voxel approach. It is clear that many ros applications use octomap as a standard and we would gain to work on parallelizing octomap. The advent of embedded GPU's such as the nvidia TK1 and TX1 are making this much more interesting for mobile robotics.

I would like to slowly incrementally develop this by speeding up small parts of the code.

How feasible do you think this is and do you have any pointers on where to start?