Related papers: An Efficient Pre-Processing Method for 6G Dynamic …
We propose a compact and efficient tetrahedral mesh representation to improve the ray-tracing performance. We reorder tetrahedral mesh data using a space-filling curve to improve cache locality. Most importantly, we propose an efficient ray…
Reconstructing dynamic 4D scenes is an important yet challenging task. While 3D foundation models like VGGT excel in static settings, they often struggle with dynamic sequences where motion causes significant geometric ambiguity. To address…
Service mobile robots are often required to avoid dynamic objects while performing their tasks, but they usually have only limited computational resources. To further advance the practical application of service robots in complex dynamic…
Real-time navigation in dense human environments is a challenging problem in robotics. Most existing path planners fail to account for the dynamics of pedestrians because introducing time as an additional dimension in search space is…
In this paper, we present a novel method for 3D geometric scene graph generation using range sensors and RGB cameras. We initially detect instance-wise keypoints with a YOLOv8s model to compute 6D pose estimates of known objects by solving…
High-Sfrequency (HF) ray tracing in the complex ionospheric medium generally faces a fundamental trade-off between path accuracy and computational efficiency. This paper presents a high-fidelity Ray Tracing Method (RTM) synergistically…
Previous attempts to integrate Neural Radiance Fields (NeRF) into the Simultaneous Localization and Mapping (SLAM) framework either rely on the assumption of static scenes or require the ground truth camera poses, which impedes their…
We present and evaluate a procedure that utilizes mobility and throughput prediction to prefetch video streaming data in integrated cellular and WiFi networks. The effective integration of such heterogeneous wireless technologies will be…
We report the development of a new ray-tracing simulation tool having the potential of the full characterization of a radio link through the accurate study of the propagation path of the signal from the transmitting to the receiving…
An imaging technique with sensitivity to short duration optical transients is described. The technique is based on the use of wide-field cameras operating in a drift scanning mode, whereby persistent objects produce trails on the sensor and…
Tracking the 6D pose of objects in video sequences is important for robot manipulation. This task, however, introduces multiple challenges: (i) robot manipulation involves significant occlusions; (ii) data and annotations are troublesome…
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.…
Localization and tracking are critical components of integrated sensing and communication (ISAC) systems, enhancing resource management, beamforming accuracy, and overall system reliability through precise sensing. Due to the high path loss…
Predicting the object's 6D pose from a single RGB image is a fundamental computer vision task. Generally, the distance between transformed object vertices is employed as an objective function for pose estimation methods. However, projective…
Gaussian Splatting (GS) has become one of the most important neural rendering algorithms. GS represents 3D scenes using Gaussian components with trainable color and opacity. This representation achieves high-quality renderings with fast…
Most existing motion planning algorithms assume that a map (of some quality) is fully determined prior to generating a motion plan. In many emerging applications of robotics, e.g., fast-moving agile aerial robots with constrained embedded…
Future sixth-generation (6G) networks are envisioned to support intelligent applications across various vertical scenarios, which have stringent requirements on high-precision sensing as well as ultra-low-latency data processing and…
In this work, we face the issue of achieving an efficient dynamic mapping in vehicular networking scenarios, i.e., to obtain an accurate estimate of the positions and trajectories of connected vehicles in a certain area. State of the art…
Six-dimensional movable antenna (6DMA) has been identified as a new disruptive technology for future wireless systems to support a large number of users with only a few antennas. However, the intricate relationships between the signal…
Ray tracing accelerated with graphics processing units (GPUs) is an accurate and efficient simulation technique of wireless communication channels. In this paper, we extend a GPU-accelerated ray tracer (RT) to support the effects of…