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We report on the design, implementation, optimization, and performance of the CADISHI software package, which calculates histograms of pair-distances of ensembles of particles on CPUs and GPUs. These histograms represent 2-point spatial…

We present a continuous-time collision detection algorithm for quickly detecting whether certain polynomial trajectories in time intersect with convex obstacles. The algorithm is used in conjunction with an existing multicopter trajectory…

LiDAR-camera fusion can enhance the performance of 3D object detection by utilizing complementary information between depth-aware LiDAR points and semantically rich images. Existing voxel-based methods face significant challenges when…

3D perception in point clouds is transforming the perception ability of future intelligent machines. Point cloud algorithms, however, are plagued by irregular memory accesses, leading to massive inefficiencies in the memory sub-system,…

Deep learning has substantially boosted the performance of Monocular Depth Estimation (MDE), a critical component in fully vision-based autonomous driving (AD) systems (e.g., Tesla and Toyota). In this work, we develop an attack against…

In many graphics applications, the computation of exact geodesic distance is very important. However, the high computational cost of the existing geodesic algorithms means that they are not practical for large-scale models or time-critical…

X-ray tomographic reconstruction typically uses voxel basis functions to represent volumetric images. Due to the structure in voxel basis representations, efficient ray-tracing methods exist allowing fast, GPU accelerated implementations.…

Object detectors have emerged as an indispensable module in modern computer vision systems. In this work, we propose DPatch -- a black-box adversarial-patch-based attack towards mainstream object detectors (i.e. Faster R-CNN and YOLO).…

Depth is a vital piece of information for autonomous vehicles to perceive obstacles. Due to the relatively low price and small size of monocular cameras, depth estimation from a single RGB image has attracted great interest in the research…

For intelligent vehicles, sensing the 3D environment is the first but crucial step. In this paper, we build a real-time advanced driver assistance system based on a low-power mobile platform. The system is a real-time multi-scheme…

Surface defect detection in industrial scenarios is both crucial and technically demanding due to the wide variability in defect types, irregular shapes and sizes, fine-grained requirements, and complex material textures. Although recent…

Differentiable simulation of soft bodies is a foundation for system identification, trajectory optimization, and Real2Sim transfer. Yet, existing methods such as the differentiable Projective Dynamics (DiffPD) struggle when faced with…

Fast 4$\pi$ solid angle particle track recognition has been a challenge in particle physics for a long time, especially in using nuclear emulsion detectors. The recent advances in computing technology opened the way for its realization. A…

Embedding tables are critical components of large-scale recommendation systems, facilitating the efficient mapping of high-cardinality categorical features into dense vector representations. However, as the volume of unique IDs expands,…

This paper presents a real-time solution for collision detection between objects based on the physics properties. Traditional approaches on collision detection often rely on the geometric relationships that computing the intersections…

Moving Object Detection (MOD) is a critical task for autonomous vehicles as moving objects represent higher collision risk than static ones. The trajectory of the ego-vehicle is planned based on the future states of detected moving objects.…

When localizing and detecting 3D objects for autonomous driving scenes, obtaining information from multiple sensor (e.g. camera, LIDAR) typically increases the robustness of 3D detectors. However, the efficient and effective fusion of…

Vision-based autonomous driving requires reliable and efficient object detection. This work proposes a DiffusionDet-based framework that exploits data fusion from the monocular camera and depth sensor to provide the RGB and depth (RGB-D)…

Modern GPUs come with dedicated hardware to perform ray/triangle intersections and bounding volume hierarchy (BVH) traversal. While the primary use case for this hardware is photorealistic 3D computer graphics, with careful algorithm design…

Road potholes threaten driving safety and increase infrastructure maintenance costs, while large-scale and timely pothole detection remains challenging in urban road networks. Vehicle-mounted vibration sensing offers a low-cost and scalable…