A significant portion of current and future space missions involves exploring unstructured environments, such as the surfaces of the Moon and Mars. These environments are characterized by complex and often unpredictable terrain, which presents unique challenges for autonomous robotic systems. Perception and mapping strategies play a crucial role in ensuring safe and efficient navigation in these environments. As a result, much research has been devoted to developing advanced techniques for perception and mapping in unstructured environments, and this is an active area of study in the field of robotics and space exploration. In particular, the increasing demand for real-time and reliable robotic perception systems has motivated the development of hardware acceleration algorithms.