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Differentiable rendering is an essential operation in modern vision, allowing inverse graphics approaches to 3D understanding to be utilized in modern machine learning frameworks. Explicit shape representations (voxels, point clouds, or…
Photo-realistic free-viewpoint rendering of real-world scenes using classical computer graphics techniques is challenging, because it requires the difficult step of capturing detailed appearance and geometry models. Recent studies have…
Manipulation planning is the task of computing robot trajectories that move a set of objects to their target configuration while satisfying physically feasibility. In contrast to existing works that assume known object templates, we are…
This paper presents PANTHER, a real-time perception-aware (PA) trajectory planner for multirotor-UAVs (Unmanned Aerial Vehicles) in dynamic environments. PANTHER plans trajectories that avoid dynamic obstacles while also keeping them in the…
The increasing adoption of human-robot interaction presents opportunities for technology to positively impact lives, particularly those with visual impairments, through applications such as guide-dog-like assistive robotics. We present a…
Much prior work has been done on designing computational geometry algorithms that handle input degeneracies, data imprecision, and arithmetic round-off errors. We take a new approach, inspired by the noisy sorting literature, and study…
Texture and material blending is one of the leading methods for adding variety to rendered virtual worlds, creating composite materials, and generating procedural content. When done naively, it can introduce either visible seams or contrast…
This article describes a volumetric approach for procedural shape modeling and a new Procedural Shape Modeling Language (PSML) that facilitates the specification of these models. PSML provides programmers the ability to describe shapes in…
Voxels are a geometric representation used for rendering volumes, multi-resolution models, and indirect lighting effects. Since the memory consumption of uncompressed voxel volumes scales cubically with resolution, past works have…
We present RAYTHEIA, a high-performance reverse ray-tracing algorithm designed to efficiently solve three-dimensional direction-dependent equations in astronomical simulations. The algorithm uses a dual-grid framework in which the native…
The main aim of this work is the development of a vision-based road detection system fast enough to cope with the difficult real-time constraints imposed by moving vehicle applications. The hardware platform, a special-purpose massively…
While self-supervised pretraining has reduced vision systems' reliance on synthetic data, simulation remains an indispensable tool for closed-loop optimization and rigorous out-of-distribution (OOD) evaluation. However, modern simulation…
The detection and classification of intersections between triangles are crucial tasks in a wide range of applications within Computer Graphics and Geometry Processing, including mesh Arrangements, mesh Booleans, and generic mesh processing…
We present the first real-time system capable of tracking and reconstructing, individually, every visible object in a given scene, without any form of prior on the rigidness of the objects, texture existence, or object category. In contrast…
Rendering is the process of generating 2D images from 3D assets, simulated in a virtual environment, typically with a graphics pipeline. By inverting such renderer, one can think of a learning approach to predict a 3D shape from an input…
Real-time processing of data streams emanating from sensors is becoming a common task in Internet of Things scenarios. The key implementation goal consists in efficiently handling massive incoming data streams and supporting advanced data…
Shot boundary detection (SBD) is an important first step in many video processing applications. This paper presents a simple modular convolutional neural network architecture that achieves state-of-the-art results on the RAI dataset with…
With the fast development of AI-related techniques, the applications of trajectory prediction are no longer limited to easier scenes and trajectories. More and more trajectories with different forms, such as coordinates, bounding boxes, and…
Despite enormous progress in object detection and classification, the problem of incorporating expected contextual relationships among object instances into modern recognition systems remains a key challenge. In this work we propose…
Physically based rendering of complex scenes can be prohibitively costly with a potentially unbounded and uneven distribution of complexity across the rendered image. The goal of an ideal level of detail (LoD) method is to make rendering…