Related papers: VoxelCache: Accelerating Online Mapping in Robotic…
Pathfinding is a very popular area in computer game development. While two-dimensional (2D) pathfinding is widely applied in most of the popular game engines, little implementation of real three-dimensional (3D) pathfinding can be found.…
Mesh-based scene representation offers a promising direction for simplifying large-scale hierarchical visual localization pipelines, combining a visual place recognition step based on global features (retrieval) and a visual localization…
We present ASH, a modern and high-performance framework for parallel spatial hashing on GPU. Compared to existing GPU hash map implementations, ASH achieves higher performance, supports richer functionality, and requires fewer lines of code…
Enterprises are increasingly deploying large camera networks for video analytics. Many target applications entail a common problem template: searching for and tracking an object or activity of interest (e.g. a speeding vehicle, a break-in)…
In this paper we investigate an emerging application, 3D scene understanding, likely to be significant in the mobile space in the near future. The goal of this exploration is to reduce execution time while meeting our quality of result…
High-Definition (HD) maps are pivotal to autopilot navigation. Integrating the capability of lightweight HD map construction at runtime into a self-driving system recently emerges as a promising direction. In this surge, vision-only…
To process data that do not fit in RAM, conventional wisdom would suggest using distributed approaches. However, recent research has demonstrated virtual memory's strong potential in scaling up graph mining algorithms on a single machine.…
Mesh reconstruction from a 3D point cloud is an important topic in the fields of computer graphic, computer vision, and multimedia analysis. In this paper, we propose a voxel structure-based mesh reconstruction framework. It provides the…
We present a real-time dense geometric mapping algorithm for large-scale environments. Unlike existing methods which use pinhole cameras, our implementation is based on fisheye cameras which have larger field of view and benefit some other…
Efficient video architecture is the key to deploying video recognition systems on devices with limited computing resources. Unfortunately, existing video architectures are often computationally intensive and not suitable for such…
Camera relocalization methods range from dense image alignment to direct camera pose regression from a query image. Among these, sparse feature matching stands out as an efficient, versatile, and generally lightweight approach with numerous…
Occupancy prediction plays a pivotal role in autonomous driving (AD) due to the fine-grained geometric perception and general object recognition capabilities. However, existing methods often incur high computational costs, which contradicts…
Exploring an unknown environment without colliding with obstacles is one of the essentials of autonomous vehicles to perform diverse missions such as structural inspections, rescues, deliveries, and so forth. Therefore, unmanned aerial…
With virtual reality, digital painting on 2D canvases is now being extended to 3D spaces. Tilt Brush and Oculus Quill are widely accepted among artists as tools that pave the way to a new form of art - 3D emmersive painting. Current 3D…
Vectorized maps are indispensable for precise navigation and the safe operation of autonomous vehicles. Traditional methods for constructing these maps fall into two categories: offline techniques, which rely on expensive, labor-intensive…
High-definition (HD) maps provide environmental information for autonomous driving systems and are essential for safe planning. While existing methods with single-frame input achieve impressive performance for online vectorized HD map…
Real-time scene reconstruction from depth data inevitably suffers from occlusion, thus leading to incomplete 3D models. Partial reconstructions, in turn, limit the performance of algorithms that leverage them for applications in the context…
Real-time 3D scene reconstruction from RGB-D sensor data, as well as the exploration of such data in VR/AR settings, has seen tremendous progress in recent years. The combination of both these components into telepresence systems, however,…
We would like robots to be able to safely navigate at high speed, efficiently use local 3D information, and robustly plan motions that consider pose uncertainty of measurements in a local map structure. This is hard to do with previously…
Autonomous driving requires 3D maps that provide accurate and up-to-date information about semantic landmarks. Due to the wider availability and lower cost of cameras compared with laser scanners, vision-based mapping solutions, especially…