Related papers: nvblox: GPU-Accelerated Incremental Signed Distanc…

Open-vocabulary panoptic reconstruction is essential for advanced robotics perception and simulation. However, existing methods based on 3D Gaussian Splatting (3DGS) often struggle to simultaneously achieve geometric accuracy, coherent…

High-precision vectorized maps are indispensable for autonomous driving, yet traditional LiDAR-based creation is costly and slow, while single-vehicle perception methods lack accuracy and robustness, particularly in adverse conditions. This…

This paper presents an efficient module named spatial bottleneck for accelerating the convolutional layers in deep neural networks. The core idea is to decompose convolution into two stages, which first reduce the spatial resolution of the…

Ensuring safety and robustness of robot skills is becoming crucial as robots are required to perform increasingly complex and dynamic tasks. The former is essential when performing tasks in cluttered environments, while the latter is…

We introduce NeuralVDB, which improves on an existing industry standard for efficient storage of sparse volumetric data, denoted VDB [Museth 2013], by leveraging recent advancements in machine learning. Our novel hybrid data structure can…

Presenting a 3D scene from multiview images remains a core and long-standing challenge in computer vision and computer graphics. Two main requirements lie in rendering and reconstruction. Notably, SOTA rendering quality is usually achieved…

Parametric human body models play a crucial role in computer graphics and vision, enabling applications ranging from human motion analysis to understanding human-environment interactions. Traditionally, these models use surface meshes,…

Direct volume rendering using ray-casting is widely used in practice. By using GPUs and applying acceleration techniques as empty space skipping, high frame rates are possible on modern hardware. This enables performance-critical use-cases…

Dense real-time tracking and mapping from RGB-D images is an important tool for many robotic applications, such as navigation and manipulation. The recently presented Directional Truncated Signed Distance Function (DTSDF) is an augmentation…

There is a stage in the GPU computing pipeline where a grid of thread-blocks is mapped to the problem domain. Normally, this grid is a k-dimensional bounding box that covers a k-dimensional problem no matter its shape. Threads that fall…

In robotic applications, a key requirement for safe and efficient motion planning is the ability to map obstacle-free space in unknown, cluttered 3D environments. However, commodity-grade RGB-D cameras commonly used for sensing fail to…

We present a novel RGB-D mapping system for generating 3D maps over spatially extended regions with higher resolution than current methods using multiple, dynamically placed mapping volumes. Our method takes in RGB-D frames and dynamically…

The current state of the art of Simultaneous Localisation and Mapping, or SLAM, on low power embedded systems is about sparse localisation and mapping with low resolution results in the name of efficiency. Meanwhile, research in this field…

Accurate mapping and localization are very important for many industrial robotics applications. In this paper, we propose an improved Signed Distance Function (SDF) for both 2D SLAM and pure localization to improve the accuracy of mapping…

Dense high dimensional vectors are becoming increasingly vital in fields such as computer vision, machine learning, and large language models (LLMs), serving as standard representations for multimodal data. Now the dimensionality of these…

Vision-based depth reconstruction is a challenging problem extensively studied in computer vision but still lacking universal solution. Reconstructing depth from single image is particularly valuable to mobile robotics as it can be embedded…

Inspired by natural evolutionary processes, Evolutionary Computation (EC) has established itself as a cornerstone of Artificial Intelligence. Recently, with the surge in data-intensive applications and large-scale complex systems, the…

In real-time Visual SLAM systems, local mapping must operate under strict latency constraints, as delays degrade map quality and increase the risk of tracking failure. GPU parallelization offers a promising way to reduce latency. However,…

Dynamic voltage and frequency scaling (DVFS) and task-to-core allocation are critical for thermal management and balancing energy and performance in embedded systems. Existing approaches either rely on utilization-based heuristics that…

Simultaneously odometry and mapping using LiDAR data is an important task for mobile systems to achieve full autonomy in large-scale environments. However, most existing LiDAR-based methods prioritize tracking quality over reconstruction…