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The discovery of a large number of terrestrial exoplanets in the habitable zones of their stars, many of which are qualitatively different from Earth, has led to a growing need for fast and flexible 3D climate models, which could model such…
Virtual globes have progressed from little-known technology to broadly popular software in a mere few years. We investigated this phenomenon through a survey and discovered that, while virtual globes are en vogue, their use is restricted to…
This paper proposes an efficient and probabilistic adaptive voxel mapping method for LiDAR odometry. The map is a collection of voxels; each contains one plane (or edge) feature that enables the probabilistic representation of the…
Mars exploration requires precise and reliable terrain models to ensure safe rover navigation across its unpredictable and often hazardous landscapes. Stereoscopic vision serves a critical role in the rover's perception, allowing scene…
The field of autonomous navigation for unmanned ground vehicles (UGVs) is in continuous growth and increasing levels of autonomy have been reached in the last few years. However, the task becomes more challenging when the focus is on the…
Obtaining a rigorous and reliable method for linking computer simulations of polymer blends and composites at different length scales of interest is a highly desirable goal in soft matter physics. In this paper a multiscale modeling…
Geometric metrology includes one or two-dimensional (1D or 2D) distance or plane measurements, as well as the three-dimensional (3D) scanning. The 1D or 2D measuring system is unable to obtain advanced 3D feature, while the 3D scanning…
Long-term 3D map management is a fundamental capability required by a robot to reliably navigate in the non-stationary real-world. This paper develops open-source, modular, and readily available LiDAR-based lifelong mapping for urban sites.…
This paper extends the author's previous two-dimensional work with Ou and LeVeque to high-resolution finite volume modeling of systems of fluids and poroelastic media in three dimensions, using logically rectangular mapped grids. A method…
Technology has made navigation in 3D real time possible and this has made possible what seemed impossible. This paper explores the aspect of deep visual odometry methods for mobile robots. Visual odometry has been instrumental in making…
For the 2D and 3D Virtual Element Methods (VEM), a new approach to improve the conditioning of local and global matrices in the presence of badly-shaped polytopes is proposed. It defines the local projectors and the local degrees of freedom…
Robotic grasping of 3D deformable objects (e.g., fruits/vegetables, internal organs, bottles/boxes) is critical for real-world applications such as food processing, robotic surgery, and household automation. However, developing grasp…
Augmented Reality is a topic of foremost interest nowadays. Its main goal is to seamlessly blend virtual content in real-world scenes. Due to the lack of computational power in mobile devices, rendering a virtual object with high-quality,…
Weak gravitational lensing is a promising tool for the study of the mass distribution in the Universe. Here we report some partial results that show how lensing maps can be used to differentiate between cosmological models. We pay special…
Planetary rover exploration is attracting renewed interest with several upcoming space missions to the Moon and Mars. However, a substantial amount of data from prior missions remain underutilized for path planning and autonomous navigation…
Future planetary missions will rely on rovers that can autonomously explore and navigate in unstructured environments. An essential element is the ability to recognize places that were already visited or mapped. In this work, we leverage…
We investigate the potential of weak gravitational lensing maps to differentiate between distinct cosmological models, considering cosmic variance due to a limited map extension and the presence of noise. We introduce a measure of the…
Inspired by the fact that humans use diverse sensory organs to perceive the world, sensors with different modalities are deployed in end-to-end driving to obtain the global context of the 3D scene. In previous works, camera and LiDAR inputs…
Recent advances in 3D X-ray Computed Tomographic (CT) sensors have stimulated research efforts to unveil the extremely complex micro-scale processes that control the activity of soil microorganisms. Voxel-based description (up to hundreds…
We present Morpheus, a new model for generating pixel-level morphological classifications of astronomical sources. Morpheus leverages advances in deep learning to perform source detection, source segmentation, and morphological…