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Transparency rendering is problematic and can be considered an open problem in real-time graphics. There are many different algorithms currently available, but handling complex scenes and achieving accurate, glitch-free results is still…

Localization is an essential component for autonomous robots. A well-established localization approach combines ray casting with a particle filter, leading to a computationally expensive algorithm that is difficult to run on…

In this paper, we introduce FMapping, an efficient neural field mapping framework that facilitates the continuous estimation of a colorized point cloud map in real-time dense RGB SLAM. To achieve this challenging goal without depth, a…

Though a lot of improvement has been made to hair rendering techniques in the recent years, realistic rendering of hair remains a challenge, especially in real time. In this paper, we propose a fast technique to approximate the shading of…

Beyond novel view synthesis, Neural Radiance Fields are useful for applications that interact with the real world. In this paper, we use them as an implicit map of a given scene and propose a camera relocalization algorithm tailored for…

Shadows significantly hinder computer vision tasks in outdoor environments, particularly in field robotics, where varying lighting conditions complicate object detection and localisation. We present FieldNet, a novel deep learning framework…

Novel view synthesis is required in many robotic applications, such as VR teleoperation and scene reconstruction. Existing methods are often too slow for these contexts, cannot handle dynamic scenes, and are limited by their explicit depth…

Despite the promising results of multi-view reconstruction, the recent neural rendering-based methods, such as implicit surface rendering (IDR) and volume rendering (NeuS), not only incur a heavy computational burden on training but also…

The ray-tracing is often employed in urban areas for channel modeling with high accuracy but encounters a substantial computational complexity for high mobility scenarios. In this paper, we propose a novel pre-processing method for dynamic…

Reconstructing real-world 3D objects has numerous applications in computer vision, such as virtual reality, video games, and animations. Ideally, 3D reconstruction methods should generate high-fidelity results with 3D consistency in…

Mesh offsetting plays an important role in discrete geometric processing. In this paper, we propose a parallel feature-preserving mesh offsetting framework with variable distance. Different from the traditional method based on distance and…

We present a neural extension of basic shadow mapping for fast, high quality hard and soft shadows. We compare favorably to fast pre-filtering shadow mapping, all while producing visual results on par with ray traced hard and soft shadows.…

We present a fast and simple technique to convert images into a radiance surface-based scene representation. Building on existing radiance volume reconstruction algorithms, we introduce a subtle yet impactful modification of the loss…

Differentiable rendering is a technique used in an important emerging class of visual computing applications that involves representing a 3D scene as a model that is trained from 2D images using gradient descent. Recent works (e.g. 3D…

Obstacle Detection is a central problem for any robotic system, and critical for autonomous systems that travel at high speeds in unpredictable environment. This is often achieved through scene depth estimation, by various means. When fast…

Texture-space shading (TSS) methods decouple shading and rasterization, allowing shading to be performed at a different framerate and spatial resolution than rasterization. TSS has many potential applications, including streaming shading…

Many existing visual SLAM methods can achieve high localization accuracy in dynamic environments by leveraging deep learning to mask moving objects. However, these methods incur significant computational overhead as the camera tracking…

An event-based camera outputs an event whenever a change in scene brightness of a preset magnitude is detected at a particular pixel location in the sensor plane. The resulting sparse and asynchronous output coupled with the high dynamic…

Visual SLAM algorithms have been enhanced through the exploration of Gaussian Splatting representations, particularly in generating high-fidelity dense maps. While existing methods perform reliably in static environments, they often…

Light scattering from self-affine homogeneous isotropic random rough surfaces is studied using the ray-optics approximation. Numerical methods are developed to accelerate the first-order scattering simulations from surfaces represented as…