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This paper presents a novel Rapidly-exploring Adaptive Sampling Tree (RAST) algorithm for the adaptive sampling mission of a hybrid aerial underwater vehicle (HAUV) in an air-sea 3D environment. This algorithm innovatively combines the…
In this technical report, we introduce the basics of ray tracing and explain how to accelerate the computation of the rendering algorithm in HIP. We also show how to use a HIP ray tracing framework - HIPRT, leveraging hardware ray tracing…
This paper proposes a bidirectional rapidly-exploring random trees (RRT) algorithm to solve the motion planning problem for hybrid systems. The proposed algorithm, called HyRRT-Connect, propagates in both forward and backward directions in…
We present a method that uses high-resolution topography data of rough terrain, and ground vehicle simulation, to predict traversability. Traversability is expressed as three independent measures: the ability to traverse the terrain at a…
In this paper, we address the problem of efficient point searching and sampling for volume neural rendering. Within this realm, two typical approaches are employed: rasterization and ray tracing. The rasterization-based methods enable…
Hyperspectral imagery provides abundant spectral information beyond the visible RGB bands, offering rich discriminative details about objects in a scene. Leveraging such data has the potential to enhance visual tracking performance. In this…
Ray tracing has become a standard for accurate radio propagation modeling, but suffers from exponential computational complexity, as the number of candidate paths scales with the number of objects raised to the interaction order. This…
The non-homogeneous Poisson process (NHPP) is a widely used measurement model that allows for an object to generate multiple measurements over time. However, it can be difficult to efficiently and reliably track multiple objects under this…
Hierarchical Reinforcement Learning (HRL) agents often struggle with long-horizon visual planning due to their reliance on error-prone distance metrics. We propose Discrete Hierarchical Planning (DHP), a method that replaces continuous…
A recent trend in real-time rendering is the utilization of the new hardware ray tracing capabilities. Often, usage of a distance field representation is proposed as an alternative when hardware ray tracing is deemed too costly, and the two…
Constructing 3D representations of object geometry is critical for many robotics tasks, particularly manipulation problems. These representations must be built from potentially noisy partial observations. In this work, we focus on the…
We investigate the concept of rendering production-style content with full path tracing in a data-distributed fashion -- that is, with multiple collaborating nodes and/or GPUs that each store only part of the model. In particular, we…
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…
The problem of beam alignment and tracking in high mobility scenarios such as high-speed railway (HSR) becomes extremely challenging, since large overhead cost and significant time delay are introduced for fast time-varying channel…
This paper proposes a rapidly-exploring random trees (RRT) algorithm to solve the motion planning problem for hybrid systems. At each iteration, the proposed algorithm, called HyRRT, randomly picks a state sample and extends the search tree…
Hyperspectral cameras can provide unique spectral signatures for consistently distinguishing materials that can be used to solve surveillance tasks. In this paper, we propose a novel real-time hyperspectral likelihood maps-aided tracking…
Drone imagery is increasingly used in automated inspection for infrastructure surface defects, especially in hazardous or unreachable environments. In machine vision, the key to crack detection rests with robust and accurate algorithms for…
We introduce a new pattern recognition algorithm for track finding in High Energy Physics Experiments based on an extension of the Hough Transform to multiple dimensions. A remarkable property of this algorithm is that the execution time is…
Vector-based algorithms are novel algorithms in optimal any-angle path planning that are motivated by bug algorithms, bypassing free space by directly conducting line-of-sight checks between two queried points, and searching along obstacle…
Autonomous terrain traversal of articulated tracked robots can reduce operator cognitive load to enhance task efficiency and facilitate extensive deployment. We present a novel hybrid trajectory optimization method aimed at generating…