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In the era of autonomous driving, urban mapping represents a core step to let vehicles interact with the urban context. Successful mapping algorithms have been proposed in the last decade building the map leveraging on data from a single…
An arithmetically simple method has been developed for the evaluation of Biot--Savart integrals on tetrahedralized distributions of vorticity. In place of the usual approach of analytical formulae for the velocity induced by a linear…
Ptychography is a popular imaging technique that combines diffractive imaging with scanning microscopy. The technique consists of a coherent beam that is scanned across an object in a series of overlapping positions, leading to reliable and…
Empty space skipping can be efficiently implemented with hierarchical data structures such as k-d trees and bounding volume hierarchies. This paper compares several recently published hierarchical data structures with regard to construction…
Recent retrieval-augmented models enhance basic methods by building a hierarchical structure over retrieved text chunks through recursive embedding, clustering, and summarization. The most relevant information is then retrieved from both…
In this paper, we propose an efficient approach for the compression and representation of volumetric data utilizing coordinate-based networks and multi-resolution hash encoding. Efficient compression of volumetric data is crucial for…
Graph drawing with spring embedders employs a V x V computation phase over the graph's vertex set to compute repulsive forces. Here, the efficacy of forces diminishes with distance: a vertex can effectively only influence other vertices in…
We present TraceFlow, a novel framework for high-fidelity rendering of dynamic specular scenes by addressing two key challenges: precise reflection direction estimation and physically accurate reflection modeling. To achieve this, we…
Mesh plays an indispensable role in dense real-time reconstruction essential in robotics. Efforts have been made to maintain flexible data structures for 3D data fusion, yet an efficient incremental framework specifically designed for…
Given a tetrahedral mesh and objective functionals measuring the mesh quality which take into account the shape, size, and orientation of the mesh elements, our aim is to improve the mesh quality as much as possible. In this paper, we…
General Purpose computing on Graphical Processing Units (GPGPU) has resulted in unprecedented levels of speedup over its CPU counterparts, allowing programmers to harness the computational power of GPU shader cores to accelerate other…
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…
Ray-tracing-based 3D Gaussian splatting (3DGS) methods overcome the limitations of rasterization -- rigid pinhole camera assumptions, inaccurate shadows, and lack of native reflection or refraction -- but remain slower due to the cost of…
This paper addresses two problems needed to support four-dimensional ($3d + t$) spacetime numerical simulations. The first contribution is a general algorithm for producing conforming spacetime meshes of moving geometries. Here, the surface…
Point tracking in video sequences is a foundational capability for real-world computer vision applications, including robotics, autonomous systems, augmented reality, and video analysis. While recent deep learning-based trackers achieve…
In this paper, we present a novel method for 3D geometric scene graph generation using range sensors and RGB cameras. We initially detect instance-wise keypoints with a YOLOv8s model to compute 6D pose estimates of known objects by solving…
High-quality novel view synthesis for large-scale scenes presents a challenging dilemma in 3D computer vision. Existing methods typically partition large scenes into multiple regions, reconstruct a 3D representation using Gaussian splatting…
Similarity search approaches based on graph walks have recently attained outstanding speed-accuracy trade-offs, taking aside the memory requirements. In this paper, we revisit these approaches by considering, additionally, the memory…
Despite having achieved real-time performance in mesh construction, most of the current LiDAR odometry and meshing methods may struggle to deal with complex scenes due to relying on explicit meshing schemes. They are usually sensitive to…
This paper presents a vector HD-mapping algorithm that formulates the mapping as a tracking task and uses a history of memory latents to ensure consistent reconstructions over time. Our method, MapTracker, accumulates a sensor stream into…