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This paper presents a novel method to generate spatial constraints for motion planning in dynamic environments. Motion planning methods for autonomous driving and mobile robots typically need to rely on the spatial constraints imposed by a…
Directed graphs are widely used to model data flow and execution dependencies in streaming applications. This enables the utilization of graph partitioning algorithms for the problem of parallelizing computation for multiprocessor…
Task environments developed in Minecraft are becoming increasingly popular for artificial intelligence (AI) research. However, most of these are currently constructed manually, thus failing to take advantage of procedural content generation…
Extended reality is a fast-growing domain for which there is an increasing need to analyze and understand user behavior. In particular, understanding human visual attention during immersive experiences is crucial for many applications. The…
This work presents an efficient framework to generate a motion plan of a robot with high degrees of freedom (e.g., a humanoid robot). High-dimensionality of the robot configuration space often leads to difficulties in utilizing the…
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…
Occupancy Grids have been widely used for perception of the environment as they allow to model the obstacles in the scene, as well as free and unknown space. Recently, there has been a growing interest in the unknown space due to the…
Recent works demonstrate the advantages of hardware rasterization for 3D Gaussian Splatting (3DGS) in forward-pass rendering through fast GPU-optimized graphics and fixed memory footprint. However, extending these benefits to backward-pass…
Globally consistent dense maps are a key requirement for long-term robot navigation in complex environments. While previous works have addressed the challenges of dense mapping and global consistency, most require more computational…
We present GRIP, a graph neural network accelerator architecture designed for low-latency inference. AcceleratingGNNs is challenging because they combine two distinct types of computation: arithmetic-intensive vertex-centric operations and…
Segmentation, i.e., the partitioning of volumetric data into components, is a crucial task in many image processing applications ever since such data could be generated. Most existing applications nowadays, specifically CNNs, make use of…
An effective strategy for accelerating the calculation of convex hulls for point sets is to filter the input points by discarding interior points. In this paper, we present such a straightforward and efficient preprocessing approach by…
In this paper we present some results obtained with a troupe of low-cost robots designed to cooperatively explore and adquire the map of unknown structured orthogonal environments. In order to improve the covering of the explored zone, the…
Autonomous machines (e.g., vehicles, mobile robots, drones) require sophisticated 3D mapping to perceive the dynamic environment. However, maintaining a real-time 3D map is expensive both in terms of compute and memory requirements,…
Feature matching dominates the time costs in structure from motion (SfM). The primary contribution of this study is a GPU data schedule algorithm for efficient feature matching of Unmanned aerial vehicle (UAV) images. The core idea is to…
The dynamic scaling of distributed computations plays an important role in the utilization of elastic computational resources, such as the cloud. It enables the provisioning and de-provisioning of resources to match dynamic resource…
In this paper, we introduce Vox-Fusion++, a multi-maps-based robust dense tracking and mapping system that seamlessly fuses neural implicit representations with traditional volumetric fusion techniques. Building upon the concept of implicit…
This paper discusses the potential of graphics processing units (GPUs) in high-dimensional optimization problems. A single GPU card with hundreds of arithmetic cores can be inserted in a personal computer and dramatically accelerates many…
Trajectory planning is crucial for the safe driving of autonomous vehicles in highway traffic flow. Currently, some advanced trajectory planning methods utilize spatio-temporal voxels to construct feasible regions and then convert…
We describe a method for parallelizing the lexicographic enumeration algorithm for the factorization set of an element in a numerical semigroup via bounds. This enables the use of GPU and distributed computing methods. We provide a CUDA…