Related papers: Accelerated Feature Detectors for Visual SLAM: A C…
Simultaneous Localization and Mapping (SLAM) is considered to be a fundamental capability for intelligent mobile robots. Over the past decades, many impressed SLAM systems have been developed and achieved good performance under certain…
Subgraph matching is a basic operation widely used in many applications. However, due to its NP-hardness and the explosive growth of graph data, it is challenging to compute subgraph matching, especially in large graphs. In this paper, we…
Because of the availability of larger datasets and recent improvements in the generative model, more realistic Deepfake videos are being produced each day. People consume around one billion hours of video on social media platforms every…
3D Gaussian splatting (3D-GS) has recently revolutionized novel view synthesis in the simultaneous localization and mapping (SLAM) problem. However, most existing algorithms fail to fully capture the underlying structure, resulting in…
Point-based 3D point cloud models employ computation and memory intensive mapping functions alongside NN layers for classification/segmentation, and are executed on server-grade GPUs. The sparse, and unstructured nature of 3D point cloud…
In this paper, we introduce FMapping, an efficient neural field mapping framework that facilitates the continuous estimation of a colorized point cloud map in real-time dense RGB SLAM. To achieve this challenging goal without depth, a…
The objective of our research is to demonstrate the practical usage and orders of magnitude speedup of real-world applications by using alternative technologies to support high performance computing. Currently, the main barrier to the…
Visual-based recognition, e.g., image classification, object detection, etc., is a long-standing challenge in computer vision and robotics communities. Concerning the roboticists, since the knowledge of the environment is a prerequisite for…
Instance segmentation of planar regions in indoor scenes benefits visual SLAM and other applications such as augmented reality (AR) where scene understanding is required. Existing methods built upon two-stage frameworks show satisfactory…
Fluorescence lifetime imaging (FLI) is a widely used technique in the biomedical field for measuring the decay times of fluorescent molecules, providing insights into metabolic states, protein interactions, and ligand-receptor bindings.…
FPGA-based hardware accelerators for convolutional neural networks (CNNs) have obtained great attentions due to their higher energy efficiency than GPUs. However, it is challenging for FPGA-based solutions to achieve a higher throughput…
When trained as generative models, Deep Learning algorithms have shown exceptional performance on tasks involving high dimensional data such as image denoising and super-resolution. In an increasingly connected world dominated by mobile and…
We present an improvement of our implementation of the Correlation Technique for the Fourier Domain Acceleration Search (FDAS) algorithm on Graphics Processor Units (GPUs) (Dimoudi & Armour 2015; Dimoudi et al. 2017). Our new improved…
Visual loop closure detection is an important module in visual simultaneous localization and mapping (SLAM), which associates current camera observation with previously visited places. Loop closures correct drifts in trajectory estimation…
This work presents FG-Net, a general deep learning framework for large-scale point clouds understanding without voxelizations, which achieves accurate and real-time performance with a single NVIDIA GTX 1080 GPU. First, a novel noise and…
SLAM is a foundational technique with broad applications in robotics and AR/VR. SLAM simulations evaluate new concepts, but testing on resource-constrained devices, such as VR HMDs, faces challenges: high computational cost and restricted…
Multi-camera systems have been shown to improve the accuracy and robustness of SLAM estimates, yet state-of-the-art SLAM systems predominantly support monocular or stereo setups. This paper presents a generic sparse visual SLAM framework…
Vision-based simultaneous localization and mapping (vSLAM) is a well-established problem in mobile robotics and monocular vSLAM is one of the most challenging variations of that problem nowadays. In this work we study one of the core…
Embedded vision systems need efficient and robust image processing algorithms to perform real-time, with resource-constrained hardware. This research investigates image processing algorithms, specifically edge detection, corner detection,…
We present a novel Simultaneous Localization and Mapping (SLAM) method that employs Gaussian Process (GP) based landmark (object) representations. Instead of conventional grid maps or point cloud registration, we model the environment on a…