Related papers: Physical LiDAR Simulation in Real-Time Engine
Reliable simulation evaluation of robot manipulation policies serves as a high-fidelity proxy for real-world performance. Although existing benchmarks cover a wide range of task categories, they lack visual realism, creating a large domain…
In this paper, we explore the capabilities of multimodal inputs to 3D Gaussian Splatting (3DGS) based Radiance Field Rendering. We present LiDAR-3DGS, a novel method of reinforcing 3DGS inputs with LiDAR generated point clouds to…
Granular materials are of critical interest to many robotic tasks in planetary science, construction, and manufacturing. However, the dynamics of granular materials are complex and often computationally very expensive to simulate. We…
The current autonomous driving architecture places a heavy burden in signal processing for the graphics processing units (GPUs) in the car. This directly translates into battery drain and lower energy efficiency, crucial factors in electric…
Due to decelerating gains in single-core CPU performance, computationally expensive simulations are increasingly executed on highly parallel hardware platforms. Agent-based simulations, where simulated entities act with a certain degree of…
Over the past decade, lidars have become a cornerstone of robotics state estimation and perception thanks to their ability to provide accurate geometric information about their surroundings in the form of 3D scans. Unfortunately, most of…
Recent advances in garment simulation have brought high-quality results closer to real-time performance. Physics-based simulators can produce accurate motion, but remain too computationally expensive for interactive applications. In…
LiDAR data is becoming increasingly essential with the rise of autonomous vehicles. Its ability to provide 360deg horizontal field of view of point cloud, equips self-driving vehicles with enhanced situational awareness capabilities. While…
This paper describes a 2D and 3D simulation engine that quantitatively models the statics, dynamics, and non-linear deformation of heterogeneous soft bodies in a computationally efficient manner. There is a large body of work simulating…
Imaging system design is a complex, time-consuming, and largely manual process; LiDAR design, ubiquitous in mobile devices, autonomous vehicles, and aerial imaging platforms, adds further complexity through unique spatial and temporal…
LiDAR has become a standard sensor for autonomous driving applications as they provide highly precise 3D point clouds. LiDAR is also robust for low-light scenarios at night-time or due to shadows where the performance of cameras is…
This paper presents a compact and accurate representation of 3D scenes that are observed by a LiDAR sensor and a monocular camera. The proposed method is based on the well-established Stixel model originally developed for stereo vision…
This paper explores the use of 3D lidar in a physical Human-Robot Interaction (pHRI) scenario. To achieve the aforementioned, experiments were conducted to mimic a modern shop-floor environment. Data was collected from a pool of seventeen…
We present LiDAR-EDIT, a novel paradigm for generating synthetic LiDAR data for autonomous driving. Our framework edits real-world LiDAR scans by introducing new object layouts while preserving the realism of the background environment.…
We describe and experimentally validate an end-to-end simulation of a digital camera. The simulation models the spectral radiance of 3D-scenes, formation of the spectral irradiance by multi-element optics, and conversion of the irradiance…
Roadheader is an engineering robot widely used in underground engineering and mining industry. Interactive dynamics simulation of roadheader is a fundamental problem in unmanned excavation and virtual reality training. However, current…
LiDAR is crucial for robust 3D scene perception in autonomous driving. LiDAR perception has the largest body of literature after camera perception. However, multi-task learning across tasks like detection, segmentation, and motion…
Autonomous robots that assist humans in day to day living tasks are becoming increasingly popular. Autonomous mobile robots operate by sensing and perceiving their surrounding environment to make accurate driving decisions. A combination of…
The design requirement for flight visual simulation system is studied and the overall structure and development process are proposed in this paper. Through the construction of 3D scene model library and aircraft model, the rendering and…
Deep learning has been used to demonstrate end-to-end neural network learning for autonomous vehicle control from raw sensory input. While LiDAR sensors provide reliably accurate information, existing end-to-end driving solutions are mainly…