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In recent years, visual SLAM has achieved great progress and development, but in complex scenes, especially rotating scenes, the error of mapping will increase significantly, and the slam system is easy to lose track. In this article, we…

Map-centric SLAM is emerging as an alternative of conventional graph-based SLAM for its accuracy and efficiency in long-term mapping problems. However, in map-centric SLAM, the process of loop closure differs from that of conventional SLAM…

The time complexity of making observations and loop closures in a graph-based visual SLAM system is a function of the number of views stored. Clever algorithms, such as approximate nearest neighbor search, can make this function sub-linear.…

We present a real-time tracking SLAM system that unifies efficient camera tracking with photorealistic feature-enriched mapping using 3D Gaussian Splatting (3DGS). Our main contribution is integrating dense feature rasterization into the…

Large deep learning models have demonstrated strong ability to solve many tasks across a wide range of applications. Those large models typically require training and inference to be distributed. Tensor parallelism is a common technique…

Process mapping asks to assign vertices of a task graph to processing elements of a supercomputer such that the computational workload is balanced while the communication cost is minimized. Motivated by the recent success of GPU-based graph…

Multi-object tracking (MOT) is a challenging practical problem for vision based applications. Most recent approaches for MOT use precomputed detections from models such as Faster RCNN, performing fine-tuning of bounding boxes and…

In the ever evolving landscape of deep learning, unlocking the potential of cutting-edge models demands computational resources that surpass the capabilities of individual machines. Enter the NVIDIA DeepOps Slurm cluster, a meticulously…

The autonomous mapping of large-scale urban scenes presents significant challenges for autonomous robots. To mitigate the challenges, global planning, such as utilizing prior GPS trajectories from OpenStreetMap (OSM), is often used to guide…

To design fast neural networks, many works have been focusing on reducing the number of floating-point operations (FLOPs). We observe that such reduction in FLOPs, however, does not necessarily lead to a similar level of reduction in…

Graph clustering has many important applications in computing, but due to growing sizes of graphs, even traditionally fast clustering methods such as spectral partitioning can be computationally expensive for real-world graphs of interest.…

We present a new algorithm to quickly generate high-performance GPU implementations of complex imaging and vision pipelines, directly from high-level Halide algorithm code. It is fully automatic, requiring no schedule templates or…

Monocular visual SLAM has become an attractive practical approach for robot localization and 3D environment mapping, since cameras are small, lightweight, inexpensive, and produce high-rate, high-resolution data streams. Although numerous…

Being intensively studied, visual tracking has seen great recent advances in either speed (e.g., with correlation filters) or accuracy (e.g., with deep features). Real-time and high accuracy tracking algorithms, however, remain scarce. In…

Immersed boundary methods (IBMs) facilitate the simulation of flows around stationary, moving, and deforming bodies on Cartesian grids. However, extending these simulations to the large grid sizes required for realistic flow problems…

In this paper, we explore the limits of graphics processors (GPUs) for general purpose parallel computing by studying problems that require highly irregular data access patterns: parallel graph algorithms for list ranking and connected…

Robust and accurate state estimation remains a challenge in robotics, Augmented, and Virtual Reality (AR/VR), even as Visual-Inertial Simultaneous Localisation and Mapping (VI-SLAM) getting commoditised. Here, a full VI-SLAM system is…

Visual SLAM is a key technology for many autonomous systems. However, tracking loss can lead to the creation of disjoint submaps in multimap SLAM systems like ORB-SLAM3. Because of that, these systems employ submap merging strategies. As we…

Inter-robot loop closure detection, e.g., for collaborative simultaneous localization and mapping (CSLAM), is a fundamental capability for many multirobot applications in GPS-denied regimes. In real-world scenarios, this is a…

This paper presents a GPU-accelerated implementation of two-dimensional Smart Laplacian smoothing. This implementation is developed under the guideline of our paradigm for accelerating Laplacianbased mesh smoothing [13]. Two types of…