Related papers: VoxelCache: Accelerating Online Mapping in Robotic…
Online construction of open-ended language scenes is crucial for robotic applications, where open-vocabulary interactive scene understanding is required. Recently, neural implicit representation has provided a promising direction for online…
Achieving efficient remote teleoperation is particularly challenging in unknown environments, as the teleoperator must rapidly build an understanding of the site's layout. Online 3D mapping is a proven strategy to tackle this challenge, as…
In this work, we present a dense tracking and mapping system named Vox-Fusion, which seamlessly fuses neural implicit representations with traditional volumetric fusion methods. Our approach is inspired by the recently developed implicit…
Mesh plays an indispensable role in dense real-time reconstruction essential in robotics. Efforts have been made to maintain flexible data structures for 3D data fusion, yet an efficient incremental framework specifically designed for…
Augmented reality (AR) has gained increasingly attention from both research and industry communities. By overlaying digital information and content onto the physical world, AR enables users to experience the world in a more informative and…
Vision-Language-Action (VLA) models enable generalist robotic manipulation but suffer from high inference latency. This bottleneck stems from the massive number of visual tokens processed by large language backbones. Existing methods either…
Reconstructing dense, volumetric models of real-world 3D scenes is important for many tasks, but capturing large scenes can take significant time, and the risk of transient changes to the scene goes up as the capture time increases. These…
The recent advancements in point cloud learning have enabled intelligent vehicles and robots to comprehend 3D environments better. However, processing large-scale 3D scenes remains a challenging problem, such that efficient downsampling…
When obtaining interior 3D voxel data from triangular meshes, most existing methods fail to handle low quality meshes which happens to take up a big portion on the internet. In this work we present a robust voxelization method that is based…
Real-time path tracing is rapidly becoming the standard for rendering in entertainment and professional applications. In scientific visualization, volume rendering plays a crucial role in helping researchers analyze and interpret complex 3D…
Representing the environment is a fundamental task in enabling robots to act autonomously in unknown environments. In this work, we present confidence-rich mapping (CRM), a new algorithm for spatial grid-based mapping of the 3D environment.…
Triangle mesh maps are a versatile 3D environment representation for robots to navigate in challenging indoor and outdoor environments exhibiting tunnels, hills and varying slopes. To make use of these mesh maps, methods are needed to…
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…
Current LiDAR point cloud-based 3D single object tracking (SOT) methods typically rely on point-based representation network. Despite demonstrated success, such networks suffer from some fundamental problems: 1) It contains pooling…
We propose an end-to-end real time framework to generate high resolution graphics grade textured 3D map of urban environment. The generated detailed map finds its application in the precise localization and navigation of autonomous…
The applications being developed within the U.S. Exascale Computing Project (ECP) to run on imminent Exascale computers will generate scientific results with unprecedented fidelity and record turn-around time. Many of these codes are based…
Applications' performance is influenced by the mapping of processes to computing nodes, the frequency and volume of exchanges among processing elements, the network capacity, and the routing protocol. A poor mapping of application processes…
Real-time 3D reconstruction enables fast dense mapping of the environment which benefits numerous applications, such as navigation or live evaluation of an emergency. In contrast to most real-time capable approaches, our approach does not…
Dense, volumetric maps are essential to enable robot navigation and interaction with the environment. To achieve low latency, dense maps are typically computed onboard the robot, often on computationally constrained hardware. Previous works…
The increasing demand for augmented reality (AR) and virtual reality (VR) applications highlights the need for efficient depth information processing. Depth maps, essential for rendering realistic scenes and supporting advanced…