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In-memory data management systems, such as key-value stores, have become an essential infrastructure in today's big-data processing and cloud computing. They rely on efficient index structures to access data. While unordered indexes, such…
In recent years, prior maps have become a mainstream tool in autonomous navigation. However, commonly available prior maps are still tailored to control-and-decision tasks, and the use of these maps for localization remains largely…
Online map construction is essential for autonomous robots to navigate in unknown environments. However, the presence of dynamic objects may introduce artifacts into the map, which can significantly degrade the performance of localization…
This paper presents ORB-SLAM3, the first system able to perform visual, visual-inertial and multi-map SLAM with monocular, stereo and RGB-D cameras, using pin-hole and fisheye lens models. The first main novelty is a feature-based…
Robots need to have a memory of previously observed, but currently occluded objects to work reliably in realistic environments. We investigate the problem of encoding object-oriented memory into a multi-object manipulation reasoning and…
Trusted Execution Environments, such as Intel SGX, use hardware supports to ensure the confidentiality and integrity of applications against a compromised cloud system. However, side channels like access patterns remain for adversaries to…
An oblivious pseudorandom function (OPRF) is a protocol by which a client and server interact to evaluate a pseudorandom function on a key provided by the server and an input provided by the client, without divulging the key or input to the…
Current semi-supervised video object segmentation (VOS) methods usually leverage the entire features of one frame to predict object masks and update memory. This introduces significant redundant computations. To reduce redundancy, we…
An immutable multi-map is a many-to-many thread-friendly map data structure with expected fast insert and lookup operations. This data structure is used for applications processing graphs or many-to-many relations as applied in static…
The demand for accurate information about the internal structure and characteristics of dynamic random-access memory (DRAM) has been on the rise. Recent studies have explored the structure and characteristics of DRAM to improve processing…
SLAM is a fundamental component of modern autonomous systems, providing robots and their operators with a deeper understanding of their environment. SLAM systems often encounter challenges due to the dynamic nature of robotic motion,…
Off-road environments present unique challenges for autonomous navigation due to their complex and unstructured nature. Traditional global path-planning methods, which typically aim to minimize path length and travel time, perform poorly on…
An Autonomous Road Vehicle (ARV) can navigate various types of road networks using inputs such as throttle (acceleration), braking (deceleration), and steering (change of lateral direction). In most ARV driving scenarios that involve normal…
Existing Simultaneous Localization and Mapping (SLAM) approaches are limited in their scalability due to growing map size in long-term robot operation. Moreover, processing such maps for localization and planning tasks leads to the…
Persistent Memory (PMEM), also known as Non-Volatile Memory (NVM), can deliver higher density and lower cost per bit when compared with DRAM. Its main drawback is that it is typically slower than DRAM. On the other hand, DRAM has…
Non-volatile memory (NVM), also known as persistent memory, is an emerging paradigm for memory that preserves its contents even after power loss. NVM is widely expected to become ubiquitous, and hardware architectures are already providing…
Byte-addressable non-volatile memory (NVM) features high density, DRAM comparable performance, and persistence. These characteristics position NVM as a promising new tier in the memory hierarchy. Nevertheless, NVM has asymmetric read and…
Computers continue to diversify with respect to system designs, emerging memory technologies, and application memory demands. Unfortunately, continually adapting the conventional virtual memory framework to each possible system…
The emergence of resistive non-volatile memories opens the way to highly energy-efficient computation near- or in-memory. However, this type of computation is not compatible with conventional ECC, and has to deal with device unreliability.…
Byte-addressable non-volatile memory (NVRAM) supports persistent storage with low latency and high bandwidth. Complex data structures in it ought to be updated transactionally, so that they remain recoverable at all times. Traditional…