Related papers: Accelerating Probabilistic Volumetric Mapping usin…
We propose a new multi-instance dynamic RGB-D SLAM system using an object-level octree-based volumetric representation. It can provide robust camera tracking in dynamic environments and at the same time, continuously estimate geometric,…
The Parallel Virtual Machine (PVM) tool has been used for a distributed implementation of Greg Ward's Radiance code. In order to generate exactly the same primary rays with both the sequential and the parallel codes, the quincunx sampling…
Visual odometry is the process of estimating the position and orientation of a camera by analyzing the images associated to it. This paper develops a quick and accurate approach to visual odometry of a moving RGB-D camera navigating on a…
In this paper, we develop an online active mapping system to enable a quadruped robot to autonomously survey large physical structures. We describe the perception, planning and control modules needed to scan and reconstruct an object of…
Active object reconstruction using autonomous robots is gaining great interest. A primary goal in this task is to maximize the information of the object to be reconstructed, given limited on-board resources. Previous view planning methods…
Path-Guiding algorithms for sampling scattering directions can drastically decrease the variance of Monte Carlo estimators of Light Transport Equation, but their usage was limited to offline rendering because of memory and computational…
We study ray reordering as a tool for increasing the performance of existing GPU ray tracing implementations. We focus on ray reordering that is fully agnostic to the particular trace kernel. We summarize the existing methods for computing…
NVidia RTX platform has been changing and extending the possibilities for real time Computer Graphics applications. It is the first time in history that retail graphics cards have full hardware support for ray tracing primitives. It still a…
The generation of high-fidelity view synthesis is essential for robotic navigation and interaction but remains challenging, particularly in indoor environments and real-time scenarios. Existing techniques often require significant…
Autonomous exploration by unmanned surface vehicles (USVs) in near-shore waters requires reliable localisation and consistent mapping over extended areas, but this is challenged by GNSS degradation, environment-induced localisation…
Unmanned Aerial Vehicles (UAVs) hold immense potential for critical applications, such as search and rescue operations, where accurate perception of indoor environments is paramount. However, the concurrent amalgamation of localization, 3D…
In the realm of future home-assistant robots, 3D articulated object manipulation is essential for enabling robots to interact with their environment. Many existing studies make use of 3D point clouds as the primary input for manipulation…
The recent introduction of powerful embedded graphics processing units (GPUs) has allowed for unforeseen improvements in real-time computer vision applications. It has enabled algorithms to run onboard, well above the standard video rates,…
A spatial AI that can perform complex tasks through visual signals and cooperate with humans is highly anticipated. To achieve this, we need a visual SLAM that easily adapts to new scenes without pre-training and generates dense maps for…
Recently, Visual Programming (VP) based on large language models (LLMs) has rapidly developed and demonstrated significant potential in complex Visual Reasoning (VR) tasks. Previous works to enhance VP have primarily focused on improving…
Real-time rendering of dynamic line sets is relevant in many visualization tasks, including unsteady flow visualization and interactive white matter reconstruction from Magnetic Resonance Imaging. High-quality global illumination and…
MR vascular Fingerprinting proposes to use the MR Fingerprinting framework to quantitatively and simultaneously map several microvascular characteristics at a sub-voxel scale. The initial implementation assessed the local blood oxygenation…
Ray tracing on GPUs is becoming quite common these days. There are many publicly available documents on how to implement basic ray tracing on GPUs for spheres and implicit surfaces. We even have some general frameworks for ray tracing on…
We introduce camera ray matching (CRAYM) into the joint optimization of camera poses and neural fields from multi-view images. The optimized field, referred to as a feature volume, can be "probed" by the camera rays for novel view synthesis…
Robotic research encounters a significant hurdle when it comes to the intricate task of grasping objects that come in various shapes, materials, and textures. Unlike many prior investigations that heavily leaned on specialized point-cloud…