Related papers: Polylidar -- Polygons from Triangular Meshes
Simultaneous localization and mapping (SLAM) based on laser sensors has been widely adopted by mobile robots and autonomous vehicles. These SLAM systems are required to support accurate localization with limited computational resources. In…
We propose a space-efficient algorithm for hidden surface removal that combines one of the fastest previous algorithms for that problem with techniques based on bit manipulation. Such techniques had been successfully used in other settings,…
The main challenge in 3D object detection from LiDAR point clouds is achieving real-time performance without affecting the reliability of the network. In other words, the detecting network must be confident enough about its predictions. In…
Visibility plays an important role for decision making in cluttered, uncertain environments. This paper considers the problem of identifying optimal hiding spots for an agent against line-of-sight detection by an adversary whose location is…
We present a new method for performing Boolean operations on volumes represented as triangle meshes. In contrast to existing methods which treat meshes as 3D polyhedra and try to partition the faces at their exact intersection curves, we…
We describe a simple, but efficient algorithm for the generation of dilated contours from bilevel images. The initial part of the contour extraction is explained to be a good candidate for parallel computer code generation. The remainder of…
We propose a new algorithm to the problem of polygonal curve approximation based on a multiresolution approach. This algorithm is suboptimal but still maintains some optimality between successive levels of resolution using dynamic…
Extracting planes from a 3D scene is useful for downstream tasks in robotics and augmented reality. In this paper we tackle the problem of estimating the planar surfaces in a scene from posed images. Our first finding is that a surprisingly…
The Euclidean space notion of convex sets (and functions) generalizes to Riemannian manifolds in a natural sense and is called geodesic convexity. Extensively studied computational problems such as convex optimization and sampling in convex…
LiDAR point clouds are fundamental to various applications, yet the extreme sparsity of high-precision geometric details hinders efficient context modeling, thereby limiting the compression speed and performance of existing methods. To…
Photon counting lidar has become an invaluable tool for 3D depth imaging due to the fine-precision it can achieve over long ranges. However, high frame rate, high resolution lidar devices produce an enormous amount of time-of-flight (ToF)…
Reliable and accurate localization is crucial for mobile autonomous systems. Pole-like objects, such as traffic signs, poles, lamps, etc., are ideal landmarks for localization in urban environments due to their local distinctiveness and…
Building an online 3D LiDAR mapping system that produces a detailed surface reconstruction while remaining computationally efficient is a challenging task. In this paper, we present PlanarMesh, a novel incremental, mesh-based LiDAR…
A key problem in multiobjective linear programming is to find the set of all efficient extreme points in objective space. In this paper we introduce oriented projective geometry as an efficient and effective framework for solving this…
We propose a methodology for lidar super-resolution with ground vehicles driving on roadways, which relies completely on a driving simulator to enhance, via deep learning, the apparent resolution of a physical lidar. To increase the…
Star-shaped bodies are an important nonconvex generalization of convex bodies (e.g., linear programming with violations). Here we present an efficient algorithm for sampling a given star-shaped body. The complexity of the algorithm grows…
Airborne topographic LiDAR is an active remote sensing technology that emits near-infrared light to map objects on the Earth's surface. Derived products of LiDAR are suitable to service a wide range of applications because of their rich…
Monocular 3D scene understanding tasks, such as object size estimation, heading angle estimation and 3D localization, is challenging. Successful modern day methods for 3D scene understanding require the use of a 3D sensor. On the other…
We present a real-time algorithm that finds the Penetration Depth (PD) between general polygonal models based on iterative and local optimization techniques. Given an in-collision configuration of an object in configuration space, we find…
This paper introduces a novel geometric multigrid solver for unstructured curved surfaces. Multigrid methods are highly efficient iterative methods for solving systems of linear equations. Despite the success in solving problems defined on…