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Recent advances in 3D Gaussian Splatting (3DGS) have enabled RGB-only SLAM systems to achieve high-fidelity scene representation. However, the heavy reliance of existing systems on photometric rendering loss for camera tracking undermines…
3D Gaussian Splatting (3DGS) has shown its ability in rapid rendering and high-fidelity mapping. In this paper, we introduce LVI-GS, a tightly-coupled LiDAR-Visual-Inertial mapping framework with 3DGS, which leverages the complementary…
This paper addresses the problem of trajectory optimization for unmanned aerial vehicles (UAVs) performing time-sensitive medical deliveries in urban environments. Specifically, we consider a single UAV with 3 degree-of-freedom dynamics…
Rendering and reconstruction are long-standing topics in computer vision and graphics. Achieving both high rendering quality and accurate geometry is a challenge. Recent advancements in 3D Gaussian Splatting (3DGS) have enabled…
Numerical simulations of turbulent fluids are paramount to real-life applications, from predicting and modeling flows to diagnostic purposes in engineering. However, they are also computationally challenging due to their intrinsically…
This paper focuses on automatic guided vehicle (AGV) trajectory planning in the presence of moving obstacles with known but complicated trajectories. In order to achieve good solution precision, optimality and unification, the concerned…
Traditional Shot Boundary Detection (SBD) inherently struggles with complex transitions by formulating the task around isolated cut points, frequently yielding corrupted video shots. We address this fundamental limitation by formalizing the…
Although dynamic scene reconstruction has long been a fundamental challenge in 3D vision, the recent emergence of 3D Gaussian Splatting (3DGS) offers a promising direction by enabling high-quality, real-time rendering through explicit…
When manufacturing parts using material extrusion additive manufacturing and anisotropic polymers, the mechanical properties of a manufactured component are strongly dependent on the print trajectory orientation. We conduct non-planar…
Pathfinding is a very popular area in computer game development. While two-dimensional (2D) pathfinding is widely applied in most of the popular game engines, little implementation of real three-dimensional (3D) pathfinding can be found.…
Automotive manufacturing assembly tasks are built upon visual inspections such as scratch identification on machined surfaces, part identification and selection, etc, which guarantee product and process quality. These tasks can be related…
A comprehensive three-dimensional (3D) map of tissue architecture and gene expression is crucial for illuminating the complexity and heterogeneity of tissues across diverse biomedical applications. However, most spatial transcriptomics (ST)…
We present an asymptotically faster algorithm for solving linear systems in well-structured 3-dimensional truss stiffness matrices. These linear systems arise from linear elasticity problems, and can be viewed as extensions of graph…
In this paper, we present an online motion planning algorithm (3D-OGSE) for generating smooth, collision-free trajectories over multiple planning iterations for 3-D agents operating in an unknown obstacle-cluttered 3-D environment. Our…
This work introduces Structured 3D-SVD as a practical framework for the reconstruction, compression, and analysis of biological volumetric data. Inspired by the logic of matrix singular value decomposition (SVD), the proposed approach…
Autonomous driving requires a comprehensive understanding of the surrounding environment for reliable trajectory planning. Previous works rely on dense rasterized scene representation (e.g., agent occupancy and semantic map) to perform…
Anticipating motions of vehicles in a scene is an essential problem for safe autonomous driving systems. To this end, the comprehension of the scene's infrastructure is often the main clue for predicting future trajectories. Most of the…
We propose a data-driven scene flow estimation algorithm exploiting the observation that many 3D scenes can be explained by a collection of agents moving as rigid bodies. At the core of our method lies a deep architecture able to reason at…
Being intensively studied, visual tracking has seen great recent advances in either speed (e.g., with correlation filters) or accuracy (e.g., with deep features). Real-time and high accuracy tracking algorithms, however, remain scarce. In…
Viewpoint planning is critical for efficient 3D data acquisition in applications such as 3D reconstruction, building life-cycle management, navigation, and interior decoration. However, existing methods often neglect key optimization…