Related papers: Hardware-Accelerated Ray Tracing for Discrete and …
One of the pivotal challenges in a multi-robot system is how to give attention to accuracy and efficiency while ensuring safety. Prior arts cannot strictly guarantee collision-free for an arbitrarily large number of robots or the results…
This paper presents novel hybrid architectures that combine grid- and point-based processing to improve the detection performance and orientation estimation of radar-based object detection networks. Purely grid-based detection models…
We present a continuous-time collision detection algorithm for quickly detecting whether certain polynomial trajectories in time intersect with convex obstacles. The algorithm is used in conjunction with an existing multicopter trajectory…
The reliability of grasp detection for target objects in complex scenes is a challenging task and a critical problem that needs to be solved urgently in practical application. At present, the grasp detection location comes from searching…
Textureless object recognition has become a significant task in Computer Vision with the advent of Robotics and its applications in manufacturing sector. It has been challenging to obtain good accuracy in real time because of its lack of…
Ray tracing has been typically known as a graphics rendering method capable of producing highly realistic imagery and visual effects generated by computers. More recently the performance improvements in Graphics Processing Units (GPUs) have…
Tracking objects in 3D space and predicting their 6DoF pose is an essential task in computer vision. State-of-the-art approaches often rely on object texture to tackle this problem. However, while they achieve impressive results, many…
Collision detection plays an important role in simulation, control, and learning for robotic systems. However, no existing method is differentiable with respect to the configurations of the objects, greatly limiting the sort of algorithms…
Efficiently detecting target weld seams while ensuring sub-millimeter accuracy has always been an important challenge in autonomous welding, which has significant application in industrial practice. Previous works mostly focused on…
Successfully tracking the human body is an important perceptual challenge for robots that must work around people. Existing methods fall into two broad categories: geometric tracking and direct pose estimation using machine learning. While…
Our goal is to develop an efficient contact detection algorithm for large-scale GPU-based simulation of non-convex objects. Current GPU-based simulators such as IsaacGym and Brax must trade-off speed with fidelity, generality, or both when…
The detection of small road hazards, such as lost cargo, is a vital capability for self-driving cars. We tackle this challenging and rarely addressed problem with a vision system that leverages appearance, contextual as well as geometric…
While computer vision has advanced considerably for general object detection and tracking, the specific problem of fast-moving tiny objects remains underexplored. This paper addresses the significant challenge of detecting and tracking…
Neighbor search is of fundamental important to many engineering and science fields such as physics simulation and computer graphics. This paper proposes to formulate neighbor search as a ray tracing problem and leverage the dedicated ray…
The problem of counting collisions or interactions is common in areas as computer graphics and scientific simulations. Since it is a major bottleneck in applications of these areas, a lot of research has been carried out on such subject,…
Object detection and recognition are important problems in computer vision. Since these problems are meta-heuristic, despite a lot of research, practically usable, intelligent, real-time, and dynamic object detection/recognition methods are…
Line intersection with convex and un-convex polygons or polyhedron algorithms are well known as line clipping algorithms and very often used in computer graphics. Rendering of geometrical problems often leads to ray tracing techniques, when…
The increasing adoption of electric scooters (e-scooters) in urban areas has coincided with a rise in traffic accidents and injuries, largely due to their small wheels, lack of suspension, and sensitivity to uneven surfaces. While deep…
Advancements in AI have greatly enhanced the medical imaging process, making it quicker to diagnose patients. However, very few have investigated the optimization of a multi-model system with hardware acceleration. As specialized edge…
High-order implicit shock tracking is a new class of numerical methods to approximate solutions of conservation laws with non-smooth features. These methods align elements of the computational mesh with non-smooth features to represent them…