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We study three-way joins on MapReduce. Joins are very useful in a multitude of applications from data integration and traversing social networks, to mining graphs and automata-based constructions. However, joins are expensive, even for…

While 3D Gaussian Splatting has achieved remarkable success in photorealistic novel view synthesis, its pursuit of fast and high-fidelity 3D reconstruction has long been constrained by a trade-off between geometric accuracy and optimization…

This paper proposes an algorithm for clipping line segment against an axis-aligned rectangular window. The conventional algorithms for line segment clipping treat the clipping boundary and/or the line segment to be clipped as line. The…

We discuss the problem of embedding graphs in the plane with restrictions on the vertex mapping. In particular, we introduce a technique for drawing planar graphs with a fixed vertex mapping that bounds the number of times edges bend. An…

Localization in aerial imagery-based maps offers many advantages, such as global consistency, geo-referenced maps, and the availability of publicly accessible data. However, the landmarks that can be observed from both aerial imagery and…

Reliable segmentation of road lines and markings is critical to autonomous driving. Our work is motivated by the observations that road lines and markings are (1) frequently occluded in the presence of moving vehicles, shadow, and glare and…

It is desirable to create 3D object models and 3D maps from 2D input images for applications such as navigation, virtual tourism, and urban planning. The traditional methods of creating 3D maps, (such as photogrammetry), require a large…

This paper presents a vector HD-mapping algorithm that formulates the mapping as a tracking task and uses a history of memory latents to ensure consistent reconstructions over time. Our method, MapTracker, accumulates a sensor stream into…

Real-time scene parsing is a fundamental feature for autonomous driving vehicles with multiple cameras. In this letter we demonstrate that sharing semantics between cameras with different perspectives and overlapped views can boost the…

A system for live high quality surface reconstruction using a single moving depth camera on a commodity hardware is presented. High accuracy and real-time frame rate is achieved by utilizing graphics hardware computing capabilities via…

We introduce a nonlinear method for directly embedding large, sparse, stochastic graphs into low-dimensional spaces, without requiring vertex features to reside in, or be transformed into, a metric space. Graph data and models are prevalent…

Real-time processing of UAV imagery is crucial for applications requiring urgent geospatial information, such as disaster response, where rapid decision-making and accurate spatial data are essential. However, processing high-resolution…

Simultaneous localization and mapping, especially the one relying solely on video data (vSLAM), is a challenging problem that has been extensively studied in robotics and computer vision. State-of-the-art vSLAM algorithms are capable of…

It is a key to construct a similarity graph in graph-oriented subspace learning and clustering. In a similarity graph, each vertex denotes a data point and the edge weight represents the similarity between two points. There are two popular…

LiDAR and cameras are complementary sensors for 3D object detection in autonomous driving. However, it is challenging to explore the unnatural interaction between point clouds and images, and the critical factor is how to conduct feature…

Deployment of deep learning models in robotics as sensory information extractors can be a daunting task to handle, even using generic GPU cards. Here, we address three of its most prominent hurdles, namely, i) the adaptation of a single…

We present in this paper several improvements for computing shortest path maps using OpenGL shaders. The approach explores GPU rasterization as a way to propagate optimal costs on a polygonal 2D environment, producing shortest path maps…

We propose a novel technique to register sparse 3D scans in the absence of texture. While existing methods such as KinectFusion or Iterative Closest Points (ICP) heavily rely on dense point clouds, this task is particularly challenging…

Graph drawing with spring embedders employs a V x V computation phase over the graph's vertex set to compute repulsive forces. Here, the efficacy of forces diminishes with distance: a vertex can effectively only influence other vertices in…

In this paper, we propose UniGS, a unified map representation and differentiable framework for high-fidelity multimodal 3D reconstruction based on 3D Gaussian Splatting. Our framework integrates a CUDA-accelerated rasterization pipeline…