Related papers: VoxelCache: Accelerating Online Mapping in Robotic…
Perception still remains a challenging problem for autonomous navigation in unknown environment, especially for aerial vehicles. Most mapping algorithms for autonomous navigation are specifically designed for their very intended task, which…
The 3D point cloud perception has emerged as a fundamental role for a wide range of applications. In particular, with the rapid development of neural networks, the voxel-based networks attract great attention due to their excellent…
Efficient and scalable 3D surface reconstruction from range data remains a core challenge in computer graphics and vision, particularly in real-time and resource-constrained scenarios. Traditional volumetric methods based on…
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,…
We address the issue of the exploding computational requirements of recent State-of-the-art (SOTA) open set multimodel 3D mapping (dense 3D mapping) algorithms and present Voxel-Aggregated Feature Synthesis (VAFS), a novel approach to dense…
The 3D reconstruction of simultaneous localization and mapping (SLAM) is an important topic in the field for transport systems such as drones, service robots and mobile AR/VR devices. Compared to a point cloud representation, the 3D…
Virtual content creation and interaction play an important role in modern 3D applications such as AR and VR. Recovering detailed 3D models from real scenes can significantly expand the scope of its applications and has been studied for…
To reduce the reliance on high-definition (HD) maps, a growing trend in autonomous driving is leveraging onboard sensors to generate vectorized maps online. However, current methods are mostly constrained by processing only single-frame…
Rendering large-scale 3D Gaussian Splatting (3DGS) model faces significant challenges in achieving real-time, high-fidelity performance on consumer-grade devices. Fully realizing the potential of 3DGS in applications such as virtual reality…
Determining the occupancy status of locations in the environment is a fundamental task for safety-critical robotic applications. Traditional occupancy grid mapping methods subdivide the environment into a grid of voxels, each associated…
Autonomous mobile robots like self-flying drones and industrial robots heavily depend on depth images to perform tasks such as 3D reconstruction and visual SLAM. However, the presence of inaccuracies in these depth images can greatly hinder…
Real-time detection of objects in the 3D scene is one of the tasks an autonomous agent needs to perform for understanding its surroundings. While recent Deep Learning-based solutions achieve satisfactory performance, their high…
In modern visual SLAM systems, it is a standard practice to retrieve potential candidate map points from overlapping keyframes for further feature matching or direct tracking. In this work, we argue that keyframes are not the optimal choice…
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…
To overcome the well-known memory bottleneck of AI chips, 3D stacked architectures that employ advanced packaging technology with high-density through-silicon vias (TSVs) pins have proven to be a promising solution. The 3D-stacked AI chip…
This article introduces a novel method for converting 3D voxel maps, commonly utilized by robots for localization and navigation, into 2D occupancy maps for both unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs). The…
While the voxel-based methods have achieved promising results for multi-person 3D pose estimation from multi-cameras, they suffer from heavy computation burdens, especially for large scenes. We present Faster VoxelPose to address the…
Recent advances in bioimaging have provided scientists a superior high spatial-temporal resolution to observe dynamics of living cells as 3D volumetric videos. Unfortunately, the 3D biomedical video analysis is lagging, impeded by resource…
3D neural networks are widely used in real-world applications (e.g., AR/VR headsets, self-driving cars). They are required to be fast and accurate; however, limited hardware resources on edge devices make these requirements rather…
Probabilistic volumetric mapping (PVM) represents a 3D environmental map for an autonomous robotic navigational task. A popular implementation such as Octomap is widely used in the robotics community for such a purpose. The Octomap relies…