Related papers: On Dynamic Ray Tracing and Anticipative Channel Pr…
Ray tracing (RT) simulations require accurate transmitter (TX) and receiver (RX) location information from real-world measurements to accurately characterize wireless propagation behavior in an environment. Such wireless propagation…
Virtual environments provide a rich and controlled setting for collecting detailed data on human behavior, offering unique opportunities for predicting human trajectories in dynamic scenes. However, most existing approaches have overlooked…
This paper presents a quasi-deterministic ray tracing (QD-RT) method for analyzing the propagation of electromagnetic waves in street canyons. The method uses a statistical bistatic distribution to model the Radar Cross Section (RCS) of…
Faster rendering of synthetic images is a core problem in the field of computer graphics. Rendering algorithms, such as path-tracing is dependent on parameters like size of the image, number of light bounces, number of samples per pixel,…
Sequential monitoring of images has broad applications across various domains, including climate science, ecosystem monitoring, medical diagnostics, and so forth. In many such applications, images acquired over time exhibit gradual changes,…
Localizing users and mapping the environment using radio signals is a key task in emerging applications such as low-latency communications and safety-critical navigation. Recently introduced multipath-based SLAM methods can jointly localize…
The conditional diffusion model has been demonstrated as an efficient tool for learning robot policies, owing to its advancement to accurately model the conditional distribution of policies. The intricate nature of real-world scenarios,…
Future urban transportation concepts include a mixture of ground and air vehicles with varying degrees of autonomy in a congested environment. In such dynamic environments, occupancy maps alone are not sufficient for safe path planning.…
Streaming feed-forward 3D reconstruction enables real-time joint estimation of scene geometry and camera poses from RGB images. However, without explicit dynamic reasoning, streaming models can be affected by moving objects, causing…
Motion planning under differential constraints, kinodynamic motion planning, is one of the canonical problems in robotics. Currently, state-of-the-art methods evolve around kinodynamic variants of popular sampling-based algorithms, such as…
Recent advances in diffusion models hold significant potential in robotics, enabling the generation of diverse and smooth trajectories directly from raw representations of the environment. Despite this promise, applying diffusion models to…
Modeling radio frequency (RF) signal propagation is essential for understanding the environment, as RF signals offer valuable insights beyond the capabilities of RGB cameras, which are limited by the visible-light spectrum, lens coverage,…
Rapidly-exploring Random Tree (RRT) algorithms have been applied successfully to challenging robot motion planning and under-actuated nonlinear control problems. However a fundamental limitation of the RRT approach is the slow convergence…
Classically, rasterization techniques are performed for real-time rendering to meet the constraint of interactive frame rates. However, such techniques do not produce realistic results as compared to ray tracing approaches. Hence, hybrid…
This paper proposes a solution to the problem of smooth path planning for mobile robots in dynamic and unknown environments. A novel concept of Time-Warped Grid is introduced to predict the pose of obstacles in the environment and avoid…
Capturing the 3D geometry of transparent objects is a challenging task, ill-suited for general-purpose scanning and reconstruction techniques, since these cannot handle specular light transport phenomena. Existing state-of-the-art methods,…
Accurate precise positioning at millimeter wave frequencies is possible due to the large available bandwidth that permits precise on-the-fly time of flight measurements using conventional air interface standards. In addition, narrow antenna…
Ray tracing is a powerful tool that can be used to predict wireless channel characteristics, reducing the need for extensive channel measurements for channel characterization, evaluation of performance of sensing applications such as…
The safe and efficient operation of Autonomous Mobile Robots (AMRs) in complex environments, such as manufacturing, logistics, and agriculture, necessitates accurate multi-object tracking and predictive collision avoidance. This paper…
This paper studies the problem of predicting the distribution over multiple possible future paths of people as they move through various visual scenes. We make two main contributions. The first contribution is a new dataset, created in a…