Related papers: Globally Consistent 3D LiDAR Mapping with GPU-acce…
The ability to map challenging subarctic environments opens new horizons for robotic deployments in industries such as forestry, surveillance, and open-pit mining. In this paper, we explore possibilities of large-scale lidar mapping in a…
We present a new algorithm to quickly generate high-performance GPU implementations of complex imaging and vision pipelines, directly from high-level Halide algorithm code. It is fully automatic, requiring no schedule templates or…
In this paper, we report an optimized union-find (UF) algorithm that can label the connected components on a 2D image efficiently by employing the GPU architecture. The proposed method contains three phases: UF-based local merge, boundary…
Lidar odometry has attracted considerable attention as a robust localization method for autonomous robots operating in complex GNSS-denied environments. However, achieving reliable and efficient performance on heterogeneous platforms in…
LiDAR odometry is essential for many robotics applications, including 3D mapping, navigation, and simultaneous localization and mapping. LiDAR odometry systems are usually based on some form of point cloud registration to compute the…
3D object detection is an essential task in autonomous driving. Recent techniques excel with highly accurate detection rates, provided the 3D input data is obtained from precise but expensive LiDAR technology. Approaches based on cheaper…
Open-vocabulary panoptic reconstruction is essential for advanced robotics perception and simulation. However, existing methods based on 3D Gaussian Splatting (3DGS) often struggle to simultaneously achieve geometric accuracy, coherent…
The unification of disparate maps is crucial for enabling scalable robot operation across multiple sessions and collaborative multi-robot scenarios. However, achieving a unified map robust to sensor modalities and dynamic environments…
We introduce an approach for the real-time (2Hz) creation of a dense map and alignment of a moving robotic agent within that map by rendering using a Graphics Processing Unit (GPU). This is done by recasting the scan alignment part of the…
While 3D Gaussian Splatting (3DGS) has revolutionized photorealistic rendering, its vast ecosystem of assets remains incompatible with high-performance LiDAR simulation, a critical tool for robotics and autonomous driving. We present…
We introduce an integrated precise LiDAR, Inertial, and Visual (LIV) multimodal sensor fused mapping system that builds on the differentiable \pre{surface splatting }\now{Gaussians} to improve the mapping fidelity, quality, and structural…
Robust point cloud registration in real-time is an important prerequisite for many mapping and localization algorithms. Traditional methods like ICP tend to fail without good initialization, insufficient overlap or in the presence of…
State-of-the-art 3D-aware generative models rely on coordinate-based MLPs to parameterize 3D radiance fields. While demonstrating impressive results, querying an MLP for every sample along each ray leads to slow rendering. Therefore,…
Lidar is extensively used in the industry and mass-market. Due to its measurement accuracy and insensitivity to illumination compared to cameras, It is applied onto a broad range of applications, like geodetic engineering, self driving cars…
Structural parameters are normally extracted from observed galaxies by fitting analytic light profiles to the observations. Obtaining accurate fits to high-resolution images is a computationally expensive task, requiring many model…
Simultaneous Localization and Mapping (SLAM) plays an important role in robot autonomy. Reliability and efficiency are the two most valued features for applying SLAM in robot applications. In this paper, we consider achieving a reliable…
Visual and lidar Simultaneous Localization and Mapping (SLAM) algorithms benefit from the Inertial Measurement Unit (IMU) modality. The high-rate inertial data complement the other lower-rate modalities. Moreover, in the absence of constant…
Camera localization in 3D LiDAR maps has gained increasing attention due to its promising ability to handle complex scenarios, surpassing the limitations of visual-only localization methods. However, existing methods mostly focus on…
Visual navigation ability is strongly tied to its underlying representation of the world. Unlike classical 3D maps that require globally-consistent geometry, image- or object-relative topological graphs almost entirely do away with…
A system for live high quality surface reconstruction using a single moving depth camera on a commodity hardware is presented. High accuracy and real-time frame rate is achieved by utilizing graphics hardware computing capabilities via…