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An accurate and rapid-response perception system is fundamental for autonomous vehicles to operate safely. 3D object detection methods handle point clouds given by LiDAR sensors to provide accurate depth and position information for each…
This paper presents a real-time face recognition system using kinect sensor. The algorithm is implemented on GPU using opencl and significant speed improvements are observed. We use kinect depth image to increase the robustness and reduce…
We introduce a fast, high-precision algorithm for calculating intersections between great circle arcs and lines of constant latitude on the unit sphere. We first propose a simplified intersection point formula with improved speed and…
Localization is an essential component for autonomous robots. A well-established localization approach combines ray casting with a particle filter, leading to a computationally expensive algorithm that is difficult to run on…
Surface reconstruction with preservation of geometric features is a challenging computer vision task. Despite significant progress in implicit shape reconstruction, state-of-the-art mesh extraction methods often produce aliased,…
The world around us is full of soft objects we perceive and deform with dexterous hand movements. For a robotic hand to control soft objects, it has to acquire online state feedback of the deforming object. While RGB-D cameras can collect…
Robots operating in populated environments encounter many different types of people, some of whom might have an advanced need for cautious interaction, because of physical impairments or their advanced age. Robots therefore need to…
One of the main concerns in design and process planning for multi-axis additive and subtractive manufacturing is collision avoidance between moving objects (e.g., tool assemblies) and stationary objects (e.g., a part unified with fixtures).…
The ray-tracing is often employed in urban areas for channel modeling with high accuracy but encounters a substantial computational complexity for high mobility scenarios. In this paper, we propose a novel pre-processing method for dynamic…
This study presents an integrated framework for enhancing the safety and operational efficiency of robotic arms in laparoscopic surgery by addressing key challenges in collision detection and minimum distance estimation. By combining…
Human detection is a popular issue and has been widely used in many applications. However, including complexities in computation, leading to the human detection system implemented hardly in real-time applications. This paper presents the…
Triangle mesh maps are a versatile 3D environment representation for robots to navigate in challenging indoor and outdoor environments exhibiting tunnels, hills and varying slopes. To make use of these mesh maps, methods are needed to…
We present a novel, hardware rasterized rendering approach for ray-based 3D Gaussian Splatting (RayGS), obtaining both fast and high-quality results for novel view synthesis. Our work contains a mathematically rigorous and geometrically…
Estimating a scene's depth to achieve collision avoidance against moving pedestrians is a crucial and fundamental problem in the robotic field. This paper proposes a novel, low complexity network architecture for fast and accurate human…
Classically, rasterization techniques are performed for real-time rendering to meet the constraint of interactive frame rates. However, such techniques do not produce realistic results as compared to ray tracing approaches. Hence, hybrid…
Reducing the triangle count in complex 3D models is a basic geometry preprocessing step in graphics pipelines such as efficient rendering and interactive editing. However, most existing mesh simplification methods exhibit a few issues.…
Robotic systems need advanced mobility capabilities to operate in complex, three-dimensional environments designed for human use, e.g., multi-level buildings. Incorporating some level of autonomy enables robots to operate robustly,…
Visual object tracking is a fundamental and time-critical vision task. Recent years have seen many shallow tracking methods based on real-time pixel-based correlation filters, as well as deep methods that have top performance but need a…
We present the first triangle mesh-based technique for tracking the evolution of general three-dimensional multimaterial interfaces undergoing complex topology changes induced by deformations and collisions. Our core representation is a…
Recently, lane detection has made great progress with the rapid development of deep neural networks and autonomous driving. However, there exist three mainly problems including characterizing lanes, modeling the structural relationship…