Related papers: OMU: A Probabilistic 3D Occupancy Mapping Accelera…

Visual Odometry (VO) plays a pivotal role in autonomous systems, with a principal challenge being the lack of depth information in camera images. This paper introduces OCC-VO, a novel framework that capitalizes on recent advances in deep…

Simultaneous Localization and Mapping (SLAM) is a critical task for autonomous navigation. However, due to the computational complexity of SLAM algorithms, it is very difficult to achieve real-time implementation on low-power platforms.We…

Efficient and scalable 3D occupancy mapping is essential for autonomous robot applications in unknown environments. However, traditional occupancy grid representations suffer from two fundamental limitations. First, explicitly storing all…

The demand for executing Deep Neural Networks (DNNs) with low latency and minimal power consumption at the edge has led to the development of advanced heterogeneous Systems-on-Chips (SoCs) that incorporate multiple specialized computing…

Occupancy prediction plays a pivotal role in autonomous driving (AD) due to the fine-grained geometric perception and general object recognition capabilities. However, existing methods often incur high computational costs, which contradicts…

Traditional graphics processing units (GPUs) suffer from the low memory capacity and demand for high memory bandwidth. To address these challenges, we propose Ohm-GPU, a new optical network based heterogeneous memory design for GPUs.…

This paper proposes a real-time multi-plane segmentation method based on GPU-accelerated high-resolution 3D voxel mapping for legged robot locomotion. Existing online planar mapping approaches struggle to balance accuracy and computational…

Dynamic 3D Gaussian splatting (3DGS) extends static 3DGS to render dynamic scenes, enabling AR/VR applications with moving objects. However, implementing dynamic 3DGS on edge devices faces challenges: (1) Loading all Gaussian parameters…

The need to execute Deep Neural Networks (DNNs) at low latency and low power at the edge has spurred the development of new heterogeneous Systems-on-Chips (SoCs) encapsulating a diverse set of hardware accelerators. How to optimally map a…

This paper presents a real-time 3D mapping framework based on global matching cost minimization and LiDAR-IMU tight coupling. The proposed framework comprises a preprocessing module and three estimation modules: odometry estimation, local…

Robotic exploration in large-scale environments is computationally demanding due to the high overhead of processing extensive frontiers. This article presents an OctoMap-based frontier exploration algorithm with predictable, asymptotically…

This article presents GLIM, a 3D range-inertial localization and mapping framework with GPU-accelerated scan matching factors. The odometry estimation module of GLIM employs a combination of fixed-lag smoothing and keyframe-based point…

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…

High-definition (HD) maps are essential for autonomous driving, providing precise information such as road boundaries, lane dividers, and crosswalks to enable safe and accurate navigation. However, traditional HD map generation is…

A real-time semantic 3D occupancy mapping framework is proposed in this paper. The mapping framework is based on the Bayesian kernel inference strategy from the literature. Two novel free space representations are proposed to efficiently…

Path planning for autonomous driving with dynamic obstacles poses a challenge because it needs to perform a higher-dimensional search (with time-dimension) while still meeting real-time constraints. This paper proposes an algorithm-hardware…

Due to the very rapidly growing use of Artificial Neural Networks (ANNs) in real-world applications related to machine learning and Artificial Intelligence (AI), several hardware accelerator de-signs for ANNs have been proposed recently. In…

Occupancy prediction, aiming at predicting the occupancy status within voxelized 3D environment, is quickly gaining momentum within the autonomous driving community. Mainstream occupancy prediction works first discretize the 3D environment…

Real-time high-accuracy optical flow estimation is a crucial component in various applications, including localization and mapping in robotics, object tracking, and activity recognition in computer vision. While recent learning-based…

3D Gaussian splatting (3DGS) has recently demonstrated promising advancements in RGB-D online dense mapping. Nevertheless, existing methods excessively rely on per-pixel depth cues to perform map densification, which leads to significant…