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In real-world, many problems can be formulated as the alignment between two geometric patterns. Previously, a great amount of research focus on the alignment of 2D or 3D patterns, especially in the field of computer vision. Recently, the…
Robust humanoid locomotion requires accurate and globally consistent perception of the surrounding 3D environment. However, existing perception modules, mainly based on depth images or elevation maps, offer only partial and locally…
High-resolution 3D medical image generation remains challenging because fully volumetric models are computationally expensive, while efficient 2D slice generators often fail to preserve anatomical consistency across the third dimension. We…
The exponential growth in model sizes has significantly increased the communication burden in Federated Learning (FL). Existing methods to alleviate this burden by transmitting compressed gradients often face high compression errors, which…
In this paper, we present a motion planning framework for multi-modal vehicle dynamics. Our proposed algorithm employs transcription of the optimization objective function, vehicle dynamics, and state and control constraints into sparse…
3D medical image generation is essential for data augmentation and patient privacy, calling for reliable and efficient models suited for clinical practice. However, current methods suffer from limited anatomical fidelity, restricted axial…
Low-altitude economy includes the application of unmanned aerial vehicles (UAVs) serving ground robots. This paper investigates the 3-dimensional (3D) trajectory and communication optimization for low-altitude air-ground cooperation…
Surface graphs have been used in many application domains to represent three-dimensional (3D) data. Another approach to representing 3D data is making projections onto two-dimensional (2D) graphs. This approach will result in multiple…
In this paper, we propose a new joint object detection and tracking (JoDT) framework for 3D object detection and tracking based on camera and LiDAR sensors. The proposed method, referred to as 3D DetecTrack, enables the detector and tracker…
The integration of GNSS data into portable devices has led to the generation of vast amounts of trajectory data, which is crucial for applications such as map-matching. To tackle the limitations of rule-based methods, recent works in deep…
This work proposes a jointly optimized trajectory generation and camera control approach, enabling an autonomous agent, such as an unmanned aerial vehicle (UAV) operating in 3D environments, to plan and execute coverage trajectories that…
We propose a systematic approach for registering cross-source point clouds. The compelling need for cross-source point cloud registration is motivated by the rapid development of a variety of 3D sensing techniques, but many existing…
Open-vocabulary 3D scene understanding is indispensable for embodied agents. Recent works leverage pretrained vision-language models (VLMs) for object segmentation and project them to point clouds to build 3D maps. Despite progress, a point…
The problem of travel time estimation is widely considered as the fundamental challenge of modern logistics. The complex nature of interconnections between spatial aspects of roads and temporal dynamics of ground transport still preserves…
Keypoint-based representation has proven advantageous in various visual and robotic tasks. However, the existing 2D and 3D methods for detecting keypoints mainly rely on geometric consistency to achieve spatial alignment, neglecting…
Moment optimization techniques have been recently proposed to solve globally various classes of optimal control problems. As those methods return truncated moment sequences of occupation measures, this paper explores a numeric method for…
The current Air Traffic Management (ATM) system worldwide has reached its limits in terms of predictability, efficiency and cost effectiveness. Different initiatives worldwide propose trajectory-oriented transformations that require high…
Formation flight has a vast potential for aerial robot swarms in various applications. However, existing methods lack the capability to achieve fully autonomous large-scale formation flight in dense environments. To bridge the gap, we…
Clustering trajectory data attracted considerable attention in the last few years. Most of prior work assumed that moving objects can move freely in an euclidean space and did not consider the eventual presence of an underlying road network…
Recently, 3D Gaussian Splatting (3DGS) has emerged as a prominent framework for novel view synthesis, providing high fidelity and rapid rendering speed. However, the substantial data volume of 3DGS and its attributes impede its practical…