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Texture reconstruction techniques generally suffer from the errors in keyframe poses. We present a non-iterative method for seamless texture reconstruction of a given 3D scene. Our method finds the best texture alignment in a single shot…
Unwanted camera occlusions, such as debris, dust, rain-drops, and snow, can severely degrade the performance of computer-vision systems. Dynamic occlusions are particularly challenging because of the continuously changing pattern. Existing…
Most face relighting methods are able to handle diffuse shadows, but struggle to handle hard shadows, such as those cast by the nose. Methods that propose techniques for handling hard shadows often do not produce geometrically consistent…
This paper presents a modeling and optimization framework to compute the minimum-lap-time spatial trajectory and powertrain operation of racing cars in a computationally efficient fashion. Specifically, we first derive a quasi-steady-state…
We introduce DiffBMP, a scalable and efficient differentiable rendering engine for a collection of bitmap images. Our work addresses a limitation that traditional differentiable renderers are constrained to vector graphics, given that most…
Building accurate maps is a key building block to enable reliable localization, planning, and navigation of autonomous vehicles. We propose a novel approach for building accurate maps of dynamic environments utilizing a sequence of LiDAR…
Robust scene representation is essential for autonomous systems to safely operate in challenging low-visibility environments. Radar has a clear advantage over cameras and lidars in these conditions due to its resilience to environmental…
As computational complexity in electromagnetics increases with frequency, full-wave solvers become computationally infeasible for electrically large problems. To address this limitation, we present a shooting and bouncing rays (SBR) method…
Trajectory simplification is a problem encountered in areas like Robot programming by demonstration, CAD/CAM, computer vision, and in GPS-based applications like traffic analysis. This problem entails reduction of the points in a given…
Depth information is useful for many applications. Active depth sensors are appealing because they obtain dense and accurate depth maps. However, due to issues that range from power constraints to multi-sensor interference, these sensors…
In this paper, a robust RGB-D SLAM system is proposed to utilize the structural information in indoor scenes, allowing for accurate tracking and efficient dense mapping on a CPU. Prior works have used the Manhattan World (MW) assumption to…
Many lighting methods used in computer graphics such as indirect illumination can have very high computational costs and need to be approximated for real-time applications. These costs can be reduced by means of upsampling techniques which…
We present the validation of ADBSat, a novel implementation of the panel method including a fast pseudo-shading algorithm, that can quickly and accurately determine the forces and torques on satellites in free-molecular flow. Our main…
When a pulsed, few-cycle electromagnetic wave is focused by optics with f-number smaller than two, the frequency components it contains are focused to different regions of space, building up a complex electromagnetic field structure.…
In this paper, we present an efficient visual SLAM system designed to tackle both short-term and long-term illumination challenges. Our system adopts a hybrid approach that combines deep learning techniques for feature detection and…
Accelerating neural radiance fields training is of substantial practical value, as the ray sampling strategy profoundly impacts network convergence. More efficient ray sampling can thus directly enhance existing NeRF models' training…
In dynamic scenes, both localization and mapping in visual SLAM face significant challenges. In recent years, numerous outstanding research works have proposed effective solutions for the localization problem. However, there has been a…
Because of the communication delay between earth and moon, the GNC technology of lunar probe is becoming more important than ever. Current navigation technology is not able to provide precise motion estimation for probe landing control…
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…
We introduce MUTE-SLAM, a real-time neural RGB-D SLAM system employing multiple tri-plane hash-encodings for efficient scene representation. MUTE-SLAM effectively tracks camera positions and incrementally builds a scalable multi-map…