Related papers: VoxelCache: Accelerating Online Mapping in Robotic…

In autonomous driving, mapping is critical for motion planning but remains an under-utilized resource for perception tasks such as 3D object detection. Maps can provide robust structural priors of the static environment, helping resolve…

Globally consistent dense maps are a key requirement for long-term robot navigation in complex environments. While previous works have addressed the challenges of dense mapping and global consistency, most require more computational…

This work presents a compact, cumulative and coalescible probabilistic voxel mapping method to enhance performance, accuracy and memory efficiency in LiDAR odometry. Probabilistic voxel mapping requires storing past point clouds and…

In Robotics, especially in this era of autonomous driving, mapping is one key ability of a robot to be able to navigate through an environment, localize on it and analyze its traversability. To allow for real-time execution on constrained…

Volumetric maps are widely used in robotics due to their desirable properties in applications such as path planning, exploration, and manipulation. Constant advances in mapping technologies are needed to keep up with the improvements in…

We present a local 3D voxel mapping framework for off-road path planning and navigation. Our method provides both hard and soft positive obstacle detection, negative obstacle detection, slope estimation, and roughness estimation. By using a…

Voxel grids are a minimal and efficient environment representation that is used for robot motion planning in numerous tasks. Many state-of-the-art planning algorithms use voxel grids composed of free, occupied and unknown voxels. In this…

Incremental scene reconstruction is essential to the navigation in robotics. Most of the conventional methods typically make use of either TSDF (truncated signed distance functions) volume or neural networks to implicitly represent the…

Open-vocabulary semantic mapping enables robots to spatially ground previously unseen concepts without requiring predefined class sets. Current training-free methods commonly rely on multi-view fusion of semantic embeddings into a 3D map,…

Evaluating code generation models for 3D spatial reasoning requires executing generated code in realistic environments and assessing outputs beyond surface-level correctness. We introduce a platform VoxelCode, for analyzing code generation…

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…

For intelligent robotics applications, extending 3D mapping to 3D semantic mapping enables robots to, not only localize themselves with respect to the scene's geometrical features but also simultaneously understand the higher level meaning…

In this paper, we introduce Vox-Fusion++, a multi-maps-based robust dense tracking and mapping system that seamlessly fuses neural implicit representations with traditional volumetric fusion techniques. Building upon the concept of implicit…

Real-time rendering of dynamic line sets is relevant in many visualization tasks, including unsteady flow visualization and interactive white matter reconstruction from Magnetic Resonance Imaging. High-quality global illumination and…

Real robots are expected to repeat the same behavior in new environments with very little new data, yet modern controllers either incur heavy per-step inference or require deployment-time fine-tuning. We propose RT-Cache, a training-free…

3D vector graphics play a crucial role in various applications including 3D shape retrieval, conceptual design, and virtual reality interactions due to their ability to capture essential structural information with minimal representation.…

Compute-mode rendering is becoming more and more attractive for non-standard rendering applications, due to the high flexibility of compute-mode execution. These newly designed pipelines often include streaming vertex and geometry…

The real-time dynamic environment perception has become vital for autonomous robots in crowded spaces. Although the popular voxel-based mapping methods can efficiently represent 3D obstacles with arbitrarily complex shapes, they can hardly…

X-ray tomographic reconstruction typically uses voxel basis functions to represent volumetric images. Due to the structure in voxel basis representations, efficient ray-tracing methods exist allowing fast, GPU accelerated implementations.…

Voxel art is a distinctive stylization widely used in games and digital media, yet automated generation from 3D meshes remains challenging due to conflicting requirements of geometric abstraction, semantic preservation, and discrete color…