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Today's autonomous vehicles rely extensively on high-definition 3D maps to navigate the environment. While this approach works well when these maps are completely up-to-date, safe autonomous vehicles must be able to corroborate the map's…
Particle-based representations of radiance fields such as 3D Gaussian Splatting have found great success for reconstructing and re-rendering of complex scenes. Most existing methods render particles via rasterization, projecting them to…
Ray tracing is a technique for generating an image by tracing the path of light through pixels in an image plane and simulating the effects of high-quality global illumination at a heavy computational cost. Because of the high computation…
We address the issue of the exploding computational requirements of recent State-of-the-art (SOTA) open set multimodel 3D mapping (dense 3D mapping) algorithms and present Voxel-Aggregated Feature Synthesis (VAFS), a novel approach to dense…
Interconnected road lanes are a central concept for navigating urban roads. Currently, most autonomous vehicles rely on preconstructed lane maps as designing an algorithmic model is difficult. However, the generation and maintenance of such…
This paper proposes a real-time multi-plane segmentation method based on GPU-accelerated high-resolution 3D voxel mapping for legged robot locomotion. Existing online planar mapping approaches struggle to balance accuracy and computational…
We propose an end-to-end real time framework to generate high resolution graphics grade textured 3D map of urban environment. The generated detailed map finds its application in the precise localization and navigation of autonomous…
Scene graph alignment establishes object correspondences between two 3D scene graphs constructed from partially overlapping observations. This enables efficient scene understanding and object-level relocalization when a robot revisits a…
Vision-based lane detection (LD) is a key part of autonomous driving technology, and it is also a challenging problem. As one of the important constraints of scene composition, vanishing point (VP) may provide a useful clue for lane…
Multi-spectral image stitching leverages the complementarity between infrared and visible images to generate a robust and reliable wide field-of-view (FOV) scene. The primary challenge of this task is to explore the relations between…
Given a set of points in the plane, we want to establish a connection network between these points that consists of several disjoint layers. Motivated by sensor networks, we want that each layer is spanning and plane, and that no edge is…
The task of approximating points with circular arcs is performed in many applications, such as polyline compression, noise filtering, and feature recognition. However, the development of algorithms that perform a significant amount of…
This paper presents OpenREALM, a real-time mapping framework for Unmanned Aerial Vehicles (UAVs). A camera attached to the onboard computer of a moving UAV is utilized to acquire high resolution image mosaics of a targeted area of interest.…
Online augmentation of an oblique aerial image sequence with structural information is an essential aspect in the process of 3D scene interpretation and analysis. One key aspect in this is the efficient dense image matching and depth…
An extensive, precise and robust recognition and modeling of the environment is a key factor for next generations of Advanced Driver Assistance Systems and development of autonomous vehicles. In this paper, a real-time approach for the…
Solving large-scale optimization on-the-fly is often a difficult task for real-time computer graphics applications. To tackle this challenge, model reduction is a well-adopted technique. Despite its usefulness, model reduction often…
LiDAR sensors are widely used in autonomous vehicles to better perceive the environment. However, prior works have shown that LiDAR signals can be spoofed to hide real objects from 3D object detectors. This study explores the feasibility of…
Graph matching is one of the most important problems in graph theory and combinatorial optimization, with many applications in various domains. Although meta-heuristic algorithms have had good performance on many NP-Hard and NP-Complete…
An efficient computer algorithm is described for the perspective drawing of a wide class of surfaces. The class includes surfaces corresponding lo single-valued, continuous functions which are defined over rectangular domains. The algorithm…
Surface reconstruction with preservation of geometric features is a challenging computer vision task. Despite significant progress in implicit shape reconstruction, state-of-the-art mesh extraction methods often produce aliased,…