Related papers: Accelerating Probabilistic Volumetric Mapping usin…
Classical methods of modelling and mapping robot work cells are time consuming, expensive and involve expert knowledge. We present a novel approach to mapping and cell setup using modern Head Mounted Displays (HMDs) that possess…
Real-time autonomous systems utilize multi-layer computational frameworks to perform critical tasks such as perception, goal finding, and path planning. Traditional methods implement perception using occupancy grid mapping (OGM), segmenting…
Data management on GPUs has become increasingly relevant due to a tremendous rise in processing power and available GPU memory. Similar to main-memory systems, there is a need for performant GPU-resident index structures to speed up query…
Volumetric maps are widely used in robotics due to their desirable properties in applications such as path planning, exploration, and manipulation. Constant advances in mapping technologies are needed to keep up with the improvements in…
4D reconstruction and rendering of human activities is critical for immersive VR/AR experience.Recent advances still fail to recover fine geometry and texture results with the level of detail present in the input images from sparse…
This paper proposes a real-time multi-plane segmentation method based on GPU-accelerated high-resolution 3D voxel mapping for legged robot locomotion. Existing online planar mapping approaches struggle to balance accuracy and computational…
Mapping is essential in robotics and autonomous systems because it provides the spatial foundation for path planning. Efficient mapping enables planning algorithms to generate reliable paths while ensuring safety and adapting in real time…
We present a novel algorithm for real-time planar semantic mapping tailored for humanoid robots navigating complex terrains such as staircases. Our method is adaptable to any odometry input and leverages GPU-accelerated processes for planar…
Ray tracing (RT) is a 3D graphics technique that offers highly realistic visuals. It is becoming prominent and accessible as GPU vendors have integrated dedicated ray tracing acceleration hardware. However, tracing millions of rays through…
With virtual reality, digital painting on 2D canvases is now being extended to 3D spaces. Tilt Brush and Oculus Quill are widely accepted among artists as tools that pave the way to a new form of art - 3D emmersive painting. Current 3D…
This paper proposes an efficient and probabilistic adaptive voxel mapping method for LiDAR odometry. The map is a collection of voxels; each contains one plane (or edge) feature that enables the probabilistic representation of the…
Process mapping asks to assign vertices of a task graph to processing elements of a supercomputer such that the computational workload is balanced while the communication cost is minimized. Motivated by the recent success of GPU-based graph…
Computing on graphics processing units (GPUs) has become standard in scientific computing, allowing for incredible performance gains over classical CPUs for many computational methods. As GPUs were originally designed for 3D rendering, they…
Gaussian Process (GP) models are widely used for Robotic Information Gathering (RIG) in exploring unknown environments due to their ability to model complex phenomena with non-parametric flexibility and accurately quantify prediction…
Legged robots have the potential to expand the reach of autonomy beyond paved roads. In this work, we consider the difficult problem of locomotion on challenging terrains using a single forward-facing depth camera. Due to the partial…
Visual Odometry (VO) is crucial for autonomous robotic navigation, especially in GPS-denied environments like planetary terrains. To improve robustness, recent model-based VO systems have begun combining standard and event-based cameras.…
In dynamic environments, performance of visual SLAM techniques can be impaired by visual features taken from moving objects. One solution is to identify those objects so that their visual features can be removed for localization and…
Direct volume rendering using ray-casting is widely used in practice. By using GPUs and applying acceleration techniques as empty space skipping, high frame rates are possible on modern hardware. This enables performance-critical use-cases…
We present a voxel-based rendering pipeline for large 3D line sets that employs GPU ray-casting to achieve scalable rendering including transparency and global illumination effects that cannot be achieved with GPU rasterization. Even for…
Volume rendering using neural fields has shown great promise in capturing and synthesizing novel views of 3D scenes. However, this type of approach requires querying the volume network at multiple points along each viewing ray in order to…