Related papers: Hardware-Accelerated Ray Tracing for Discrete and …

Cooperative robots can significantly assist people in their productive activities, improving the quality of their works. Collision detection is vital to ensure the safe and stable operation of cooperative robots in productive activities. As…

Ray tracing is a technique for generating an image by tracing the path of light through pixels in an image plane and simulating the effects of high-quality global illumination at a heavy computational cost. Because of the high computation…

Simulations of many rigid bodies colliding with each other sometimes yield particularly interesting results if the colliding objects differ significantly in size and are non-spherical. The most expensive part within such a simulation code…

Collision detection is essential to virtually all robotics applications. However, traditional geometric collision detection methods generally require pre-existing workspace geometry representations; thus, they are unable to infer the…

Ray tracing (RT) is a 3D graphics technique that offers highly realistic visuals. It is becoming prominent and accessible as GPU vendors have integrated dedicated ray tracing acceleration hardware. However, tracing millions of rays through…

Particle-based representations of radiance fields such as 3D Gaussian Splatting have found great success for reconstructing and re-rendering of complex scenes. Most existing methods render particles via rasterization, projecting them to…

As computational complexity in electromagnetics increases with frequency, full-wave solvers become computationally infeasible for electrically large problems. To address this limitation, we present a shooting and bouncing rays (SBR) method…

We present a robust learning algorithm to detect and handle collisions in 3D deforming meshes. Our collision detector is represented as a bilevel deep autoencoder with an attention mechanism that identifies colliding mesh sub-parts. We use…

Penetration depth calculation quantifies the extent of overlap between two objects and is crucial in fields like simulations, the metaverse, and robotics. Recognizing its significance, efforts have been made to accelerate this computation…

Ray tracing is an efficient channel modeling method. However, the traditional ray tracing method has high computation complexity. To solve this problem, an improved bounding volume hierarchies (BVH) algorithm is proposed in this paper.…

We present a fast, differentiable, GPU-accelerated optimization method for ray path tracing in environments containing planar reflectors and straight diffraction edges. Based on Fermat's principle, our approach reformulates the path-finding…

3D Gaussian Splatting has gained widespread adoption across diverse applications due to its exceptional rendering performance and visual quality. While most existing methods rely on rasterization to render Gaussians, recent research has…

For applications in navigation and robotics, estimating the 3D pose of objects is as important as detection. Many approaches to pose estimation rely on detecting or tracking parts or keypoints [11, 21]. In this paper we build on a recent…

To operate reactively in uncertain environments, robots need to be able to quickly estimate the risk that they will collide with their environment. This ability is important for both planning (to ensure that plans maintain acceptable levels…

Object detection is a fundamental task for robots to operate in unstructured environments. Today, there are several deep learning algorithms that solve this task with remarkable performance. Unfortunately, training such systems requires…

Recent years have witnessed many advancements in the applications of 3D textured meshes. As the demand continues to rise, evaluating the perceptual quality of this new type of media content becomes crucial for quality assurance and…

We introduce GRay, a massively parallel integrator designed to trace the trajectories of billions of photons in a curved spacetime. This GPU-based integrator employs the stream processing paradigm, is implemented in CUDA C/C++, and runs on…

We present a novel parallel algorithm for cloth simulation that exploits multiple GPUs for fast computation and the handling of very high resolution meshes. To accelerate implicit integration, we describe new parallel algorithms for sparse…

This paper discusses improvements to the numerical robustness of the algorithm described in Kasper Fauerby's "Improved Collision Detection and Response." The algorithm addresses a common collision detection query: a moving sphere or…

Collision detection appears as a canonical operation in a large range of robotics applications from robot control to simulation, including motion planning and estimation. While the seminal works on the topic date back to the 80s, it is only…