Related papers: VoxelCache: Accelerating Online Mapping in Robotic…
This paper presents an advanced mapping system that combines drone imagery with machine learning and computer vision to overcome challenges in speed, accuracy, and adaptability across diverse terrains. By automating processes like feature…
Modern day computing increasingly relies on specialization to satiate growing performance and efficiency requirements. A core challenge in designing such specialized hardware architectures is how to perform mapping space search, i.e.,…
Visual understanding of 3D environments in real-time, at low power, is a huge computational challenge. Often referred to as SLAM (Simultaneous Localisation and Mapping), it is central to applications spanning domestic and industrial…
Crucial for autonomous exploration, online 3D occupancy prediction and mapping incrementally constructs dense spatial representations on the fly. However, recent Gaussian-centric methods struggle with structural boundary fidelity and rely…
A dense SLAM system is essential for mobile robots, as it provides localization and allows navigation, path planning, obstacle avoidance, and decision-making in unstructured environments. Due to increasing computational demands the use of…
Recent advances in sparse voxel representations have significantly improved the quality of 3D content generation, enabling high-resolution modeling with fine-grained geometry. However, existing frameworks suffer from severe computational…
Grounding language to the visual observations of a navigating agent can be performed using off-the-shelf visual-language models pretrained on Internet-scale data (e.g., image captions). While this is useful for matching images to natural…
Navigation mesh (Navmesh) inconsistencies affect the player experience by directly impacting the navigation systems used by non-playable characters (NPCs) in game environments. While navmeshes are generated from world geometry using…
Real-time 3D volumetric streaming is a transformative technology that enables the seamless transmission and rendering of high-fidelity 3D models, enhancing applications in virtual reality (VR), augmented reality (AR), gaming, telepresence,…
Leveraging spatial sparsity has become a popular approach to accelerate 3D computer graphics applications. Spatially sparse data structures and efficient sparse kernels (such as parallel stencil operations on active voxels), are key to…
Mapping and understanding complex 3D environments is fundamental to how autonomous systems perceive and interact with the physical world, requiring both precise geometric reconstruction and rich semantic comprehension. While existing 3D…
Many materials show anisotropic light scattering patterns due to the shape and local alignment of their underlying micro structures: surfaces with small elements such as fibers, or the ridges of a brushed metal, are very sparse and require…
Extended reality is a fast-growing domain for which there is an increasing need to analyze and understand user behavior. In particular, understanding human visual attention during immersive experiences is crucial for many applications. The…
UAV missions often require specific geometric constraints to be satisfied between ground locations and the vehicle location. Such requirements are typical for contexts where line-of-sight must be maintained between the vehicle location and…
This paper presents a real-time 3D LiDAR mapping framework based on global matching cost minimization. The proposed method constructs a factor graph that directly minimizes matching costs between frames over the entire map, unlike pose…
We introduce OV-MAP, a novel approach to open-world 3D mapping for mobile robots by integrating open-features into 3D maps to enhance object recognition capabilities. A significant challenge arises when overlapping features from adjacent…
3D image processing is an important problem in computer vision and pattern recognition fields. Compared with 2D image processing, its computation difficulty and cost are much higher due to the extra dimension. To fundamentally address this…
3D holographic communication has the potential to revolutionize the way people interact with each other in virtual spaces, offering immersive and realistic experiences. However, demands for high data rates, extremely low latency, and high…
The recent success of neural networks enables a better interpretation of 3D point clouds, but processing a large-scale 3D scene remains a challenging problem. Most current approaches divide a large-scale scene into small regions and combine…
This paper proposes R-VoxelMap, a novel voxel mapping method that constructs accurate voxel maps using a geometry-driven recursive plane fitting strategy to enhance the localization accuracy of online LiDAR odometry. VoxelMap and its…