Related papers: OptMap: Geometric Map Distillation via Submodular …

Open-vocabulary panoptic reconstruction is essential for advanced robotics perception and simulation. However, existing methods based on 3D Gaussian Splatting (3DGS) often struggle to simultaneously achieve geometric accuracy, coherent…

Submodular function maximization is a critical building block for diverse tasks, such as document summarization, sensor placement, and image segmentation. Yet its practical utility is often limit by the $O(knd^2)$ computational bottleneck.…

In many machine learning applications, it is necessary to meaningfully aggregate, through alignment, different but related datasets. Optimal transport (OT)-based approaches pose alignment as a divergence minimization problem: the aim is to…

Autoregressive (AR) image generators are becoming increasingly popular due to their ability to produce high-quality images and their scalability. Typical AR models are locked onto a specific generation order, often a raster-scan from…

LiDARs provide accurate geometric measurements, making them valuable for ego-motion estimation and reconstruction tasks. Although its success, managing an accurate and lightweight representation of the environment still poses challenges.…

High-definition (HD) maps are important for autonomous driving, but their manual generation and maintenance is very expensive. This motivates the usage of an automated map generation pipeline. Fleet vehicles provide sufficient sensors for…

Configuration Optimization Problems (COPs), which involve minimizing a loss function over a set of discrete points $\boldsymbol{\gamma} \subset P$, are common in areas like Model Order Reduction, Active Learning, and Optimal Experimental…

Simultaneous localisation and mapping (SLAM) play a vital role in autonomous robotics. Robotic platforms are often resource-constrained, and this limitation motivates resource-efficient SLAM implementations. While sparse visual SLAM…

Real-world image super-resolution (SR) tasks often do not have paired datasets, which limits the application of supervised techniques. As a result, the tasks are usually approached by unpaired techniques based on Generative Adversarial…

Constrained submodular set function maximization problems often appear in multi-agent decision-making problems with a discrete feasible set. A prominent example is the problem of multi-agent mobile sensor placement over a discrete domain.…

In state-of-the-art deep learning for object recognition, SoftMax and Sigmoid functions are most commonly employed as the predictor outputs. Such layers often produce overconfident predictions rather than proper probabilistic scores, which…

The ability to autonomously navigate in unknown environments is important for mobile robots. The map is the core component to achieve this. Most map representations rely on drift-free state estimation and provide a global metric map to…

In this paper, we propose OpenSatMap, a fine-grained, high-resolution satellite dataset for large-scale map construction. Map construction is one of the foundations of the transportation industry, such as navigation and autonomous driving.…

To enhance autonomous driving safety in complex scenarios, various methods have been proposed to simulate LiDAR point cloud data. Nevertheless, these methods often face challenges in producing high-quality, diverse, and controllable…

Autonomous driving perceives surroundings with line-of-sight sensors that are compromised under environmental uncertainties. To achieve real time global information in high definition map, we investigate to share perception information…

Vectorized HD map is essential for autonomous driving. Remarkable work has been achieved in recent years, but there are still major issues: (1) in the generation of the BEV features, single modality-based methods are of limited perception…

Volumetric maps are widely used in robotics due to their desirable properties in applications such as path planning, exploration, and manipulation. Constant advances in mapping technologies are needed to keep up with the improvements in…

In recent years, consumer-level depth cameras have been adopted for various applications. However, they often produce depth maps at only a moderately high frame rate (approximately 30 frames per second), preventing them from being used for…

Compressed sensing (CS) is an efficient method to reconstruct MR image from small sampled data in $k$-space and accelerate the acquisition of MRI. In this work, we propose a novel deep geometric distillation network which combines the…

In recent years we have witnessed an increase on the development of methods for submodular optimization, which have been motivated by the wide applicability of submodular functions in real-world data-science problems. In this paper, we…