Related papers: Physical LiDAR Simulation in Real-Time Engine
We present interactive data-driven compute overlays for native and web-based 3D geographic map applications based on WebGPU. Our data-driven overlays are generated in a multi-step compute workflow from multiple data sources on the GPU. We…
Underwater robotic surveys can be costly due to the complex working environment and the need for various sensor modalities. While underwater simulators are essential, many existing simulators lack sufficient rendering quality, restricting…
We provide a preliminary study on utilizing GPU (Graphics Processing Unit) to accelerate computation for three simulation optimization tasks with either first-order or second-order algorithms. Compared to the implementation using only CPU…
The proposal of Pseudo-Lidar representation has significantly narrowed the gap between visual-based and active Lidar-based 3D object detection. However, current researches exclusively focus on pushing the accuracy improvement of…
Nowadays, static, mobile, terrestrial, and airborne laser scanning technologies have become familiar data sources for engineering work, especially in the area of land surveying. The diversity of Light Detection and Ranging (LiDAR) data…
Despite the substantial progress in deep learning, its adoption in industrial robotics projects remains limited, primarily due to challenges in data acquisition and labeling. Previous sim2real approaches using domain randomization require…
Lidar-based object detectors are critical parts of the 3D perception pipeline in autonomous navigation systems such as self-driving cars. However, they are known to be sensitive to adverse weather conditions such as rain, snow and fog due…
In the realm of automated driving simulation and sensor modeling, the need for highly accurate sensor models is paramount for ensuring the reliability and safety of advanced driving assistance systems (ADAS). Hence, numerous works focus on…
While 3D LiDAR sensor technology is becoming more advanced and cheaper every day, the growth of digitalization in the AEC industry contributes to the fact that 3D building information models (BIM models) are now available for a large part…
Photorealistic 3D scene reconstruction plays an important role in autonomous driving, enabling the generation of novel data from existing datasets to simulate safety-critical scenarios and expand training data without additional acquisition…
Assisted Reality (aR) is a subfield of Augmented Reality (AR) that overlays information onto a user's immediate view via see-through head-mounted displays (OST-HMDs). This technology has proven to be effective and energy-efficient to…
This paper introduces LIVE: Lidar Informed Visual Search focused on the problem of multi-robot (MR) planning and execution for robust visual detection of multiple objects. We perform extensive real-world experiments with a two-robot team in…
Understanding how people view and interact with autonomous vehicles is important to guide future directions of research. One such way of aiding understanding is through simulations of virtual environments involving people and autonomous…
Autonomous vehicles rely on their perception systems to acquire information about their immediate surroundings. It is necessary to detect the presence of other vehicles, pedestrians and other relevant entities. Safety concerns and the need…
Reliable and accurate 3D object detection is a necessity for safe autonomous driving. Although LiDAR sensors can provide accurate 3D point cloud estimates of the environment, they are also prohibitively expensive for many settings.…
The 3D object detection capabilities in urban environments have been enormously improved by recent developments in Light Detection and Range (LiDAR) technology. This paper presents a novel framework that transforms the detection and…
We introduce DeepIR, a new thermal image processing framework that combines physically accurate sensor modeling with deep network-based image representation. Our key enabling observations are that the images captured by thermal sensors can…
Single RGB or LiDAR is the mainstream sensor for the challenging scene flow, which relies heavily on visual features to match motion features. Compared with single modality, existing methods adopt a fusion strategy to directly fuse the…
Although Structure-from-Motion (SfM) as a maturing technique has been widely used in many applications, state-of-the-art SfM algorithms are still not robust enough in certain situations. For example, images for inspection purposes are often…
Line laser scanners are a sub-type of structured light 3D scanners that are relatively common devices to find within the industrial setting, typically in the context of assembly, process control, and welding. Despite its extensive use,…