Related papers: Accelerating Probabilistic Volumetric Mapping usin…
Virtual content creation and interaction play an important role in modern 3D applications such as AR and VR. Recovering detailed 3D models from real scenes can significantly expand the scope of its applications and has been studied for…
In this paper we focus on the problem of learning an optimal policy for Active Visual Search (AVS) of objects in known indoor environments with an online setup. Our POMP method uses as input the current pose of an agent (e.g. a robot) and a…
With the aim of bridging the gap between high quality reconstruction and mobile robot motion planning, we propose an efficient system that leverages the concept of adaptive-resolution volumetric mapping, which naturally integrates with the…
Tomographic volumetric additive manufacturing (VAM) is an optical 3D printing technique where an object is formed by photopolymerizing resin via tomographic projections. Currently, these projections are calculated using the Radon transform…
This paper introduces a novel representation of volumetric videos for real-time view synthesis of dynamic scenes. Recent advances in neural scene representations demonstrate their remarkable capability to model and render complex static…
Modern computing systems are increasingly more complex, with their multicore CPUs and GPUs accelerators changing yearly, if not more often. It thus has become very challenging to write programs that efficiently use the associated complex…
Representing the environment is a fundamental task in enabling robots to act autonomously in unknown environments. In this work, we present confidence-rich mapping (CRM), a new algorithm for spatial grid-based mapping of the 3D environment.…
PointGoal navigation in indoor environment is a fundamental task for personal robots to navigate to a specified point. Recent studies solved this PointGoal navigation task with near-perfect success rate in photo-realistically simulated…
Among the components contributing to particle transport, geometry navigation is an important consumer of CPU cycles. The tasks performed to get answers to "basic" queries such as locating a point within a geometry hierarchy or computing…
Offline vectorized maps constitute critical infrastructure for high-precision autonomous driving and mapping services. Existing approaches rely predominantly on single ego-vehicle trajectories, which fundamentally suffer from viewpoint…
To autonomously navigate and plan interactions in real-world environments, robots require the ability to robustly perceive and map complex, unstructured surrounding scenes. Besides building an internal representation of the observed scene…
Global localisation from visual data is a challenging problem applicable to many robotics domains. Prior works have shown that neural networks can be trained to map images of an environment to absolute camera pose within that environment,…
The Uniform Manifold Approximation and Projection (UMAP) algorithm has become widely popular for its ease of use, quality of results, and support for exploratory, unsupervised, supervised, and semi-supervised learning. While many algorithms…
Tree-based Genetic Programming (TGP) is a widely used evolutionary algorithm for tasks such as symbolic regression, classification, and robotic control. Due to the intensive computational demands of running TGP, GPU acceleration is crucial…
We present the first approach to volumetric performance capture and novel-view rendering at real-time speed from monocular video, eliminating the need for expensive multi-view systems or cumbersome pre-acquisition of a personalized template…
We propose a novel Neural Radiance Field (NeRF) representation for non-opaque scenes that enables fast inference by utilizing textured polygons. Despite the high-quality novel view rendering that NeRF provides, a critical limitation is that…
Implicit neural representations have shown promising potential for the 3D scene reconstruction. Recent work applies it to autonomous 3D reconstruction by learning information gain for view path planning. Effective as it is, the computation…
Visual Place Recognition (VPR) has been a subject of significant research over the last 15 to 20 years. VPR is a fundamental task for autonomous navigation as it enables self-localization within an environment. Although robots are often…
In quantitative Magnetic Resonance Imaging, traditional methods suffer from the so-called Partial Volume Effect (PVE) due to spatial resolution limitations. As a consequence of PVE, the parameters of the voxels containing more than one…
With the introduction of Nvidia RTX hardware, ray tracing is now viable as a general real time rendering technique for complex 3D scenes. Leveraging this new technology, we present Raygun, an open source rendering, simulation, and game…