Related papers: A Ray Launching Approach for Computing Exact Paths…

Active Search and Tracking for search and rescue missions or collaborative mobile robotics relies on the actuation of a sensing platform to detect and localize a target. In this paper we focus on visually detecting a radio-emitting target…

Ray tracing (RT) has emerged as a key tool for propagation channel modeling and network planning. Conventional RT is based on electromagnetic (EM) wave theory and its application relies on detailed mesh-based environment representations and…

Using 3D point clouds in odometry estimation in robotics often requires finding a set of correspondences between points in subsequent scans. While there are established methods for point clouds of sufficient quality, state-of-the-art still…

Synthesizing photo-realistic images from a point cloud is challenging because of the sparsity of point cloud representation. Recent Neural Radiance Fields and extensions are proposed to synthesize realistic images from 2D input. In this…

Traditional ultrasound simulation methods solve wave equations numerically, achieving high accuracy but at substantial computational cost. Faster alternatives based on convolution with precomputed impulse responses remain relatively slow,…

The identification and modeling of the terrain from point cloud data is an important component of Terrestrial Remote Sensing (TRS) applications. The main focus in terrain modeling is capturing details of complex geological features of…

3D object detection from point clouds plays a critical role in autonomous driving. Currently, the primary methods for point cloud processing are voxel-based and pillar-based approaches. Voxel-based methods offer high accuracy through…

Motivated by the problem of pursuit-evasion, we present a motion planning framework that combines energy-based diffusion models with artificial potential fields for robust real time trajectory generation in complex environments. Our…

We propose and evaluate a neural point-based graphics method that can model semi-transparent scene parts. Similarly to its predecessor pipeline, ours uses point clouds to model proxy geometry, and augments each point with a neural…

This paper introduces a deep learning framework for generating point clouds from WiFi Channel State Information data. We employ a two-stage autoencoder approach: a PointNet autoencoder with convolutional layers for point cloud generation,…

Autonomous perception requires high-quality environment sensing in the form of 3D bounding boxes of dynamic objects. The primary sensors used in automotive systems are light-based cameras and LiDARs. However, they are known to fail in…

We present a new point-based approach for modeling the appearance of real scenes. The approach uses a raw point cloud as the geometric representation of a scene, and augments each point with a learnable neural descriptor that encodes local…

Modeling radio frequency (RF) signal propagation is essential for understanding the environment, as RF signals offer valuable insights beyond the capabilities of RGB cameras, which are limited by the visible-light spectrum, lens coverage,…

At millimeter-wave frequencies, diffuse scattering from rough surfaces is an important propagation mechanism. Including this mechanism in radio propagation modeling tools,such as ray-tracing, is a key step towards realizing accurate…

Point cloud filtering is a fundamental 3D vision task, which aims to remove noise while recovering the underlying clean surfaces. State-of-the-art methods remove noise by moving noisy points along stochastic trajectories to the clean…

We introduce a new trajectory optimization method for robotic grasping based on a point-cloud representation of robots and task spaces. In our method, robots are represented by 3D points on their link surfaces. The task space of a robot is…

Integrated sensing and communications is a key enabler for the 6G wireless communication systems. The multiple sensing modalities will allow the base station to have a more accurate representation of the environment, leading to…

In this paper, we consider the problem of wireless channel prediction, where we are interested in predicting the channel quality at unvisited locations in an area of interest, based on a small number of prior received power measurements…

The millimeter-wave radar sensor maintains stable performance under adverse environmental conditions, making it a promising solution for all-weather perception tasks, such as outdoor mobile robotics. However, the radar point clouds are…

We present a novel algorithm for light source estimation in scenes reconstructed with a RGB-D camera based on an analytically-derived formulation of path-tracing. Our algorithm traces the reconstructed scene with a custom path-tracer and…