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This paper presents a state-of-the-art approach in object detection for being applied in future SLAM problems. Although, many SLAM methods are proposed to create suitable autonomy for mobile robots namely ground vehicles, they still face…
Our goal is to develop an efficient contact detection algorithm for large-scale GPU-based simulation of non-convex objects. Current GPU-based simulators such as IsaacGym and Brax must trade-off speed with fidelity, generality, or both when…
Penetration depth calculation quantifies the extent of overlap between two objects and is crucial in fields like simulations, the metaverse, and robotics. Recognizing its significance, efforts have been made to accelerate this computation…
We consider a compression method for boundary element matrices arising in the context of the computation of electrostatic fields. Green cross approximation combines an analytic approximation of the kernel function based on Green's…
Reversible Cellular Automata (RCA) are a particular kind of shift-invariant transformations characterized by a dynamics composed only of disjoint cycles. They have many applications in the simulation of physical systems, cryptography and…
Computer simulators are nowadays widely used to understand complex physical systems in many areas such as aerospace, renewable energy, climate modeling, and manufacturing. One fundamental issue in the study of computer simulators is known…
Realistic and controllable panoramic LiDAR data generation is critical for scalable 3D perception in autonomous driving and robotics. Existing methods either perform unconditional generation with poor controllability or adopt text-guided…
With the advancement of Gaussian Splatting techniques, a growing number of datasets based on this representation have been developed. However, performing accurate and efficient clipping for Gaussian Splatting remains a challenging and…
The Geo High Resolution Camera (GHRC) aboard ISRO GSAT-29 satellite is a state-of-the-art 6-band Visible and Near Infrared (VNIR) imager in geostationary orbit at 55degE longitude. It provides a ground sampling distance of 55 meters at…
Accurate simulation of physical processes is crucial for the success of modern particle physics. However, simulating the development and interaction of particle showers with calorimeter detectors is a time consuming process and drives the…
3D Gaussian Splatting (3DGS) achieves an appealing balance between rendering quality and efficiency, but relies on approximating 3D Gaussians as 2D projections--an assumption that degrades accuracy, especially under generic large…
Current and next-generation particle tracking detectors will incorporate precision timing capabilities with resolutions approaching tens of picoseconds. Using Technology Computer-Aided Design (TCAD) simulations of Low-Gain Avalanche Diode…
Due to the lack of low redshift long Gamma-Ray Bursts (GRBs), the circular problem has been a severe obstacle for using GRBs as cosmological candles. In this paper, we present a new method to deal with such a problem in MCMC global fitting…
Autonomous robots are increasingly prevalent in our society, emerging in medical care, transportation vehicles, and home assistance. These robots rely on motion planning and collision detection to identify a sequence of movements allowing…
We present an efficient, elastic 3D LiDAR reconstruction framework which can reconstruct up to maximum LiDAR ranges (60 m) at multiple frames per second, thus enabling robot exploration in large-scale environments. Our approach only…
3D LiDAR sensors are indispensable for the robust vision of autonomous mobile robots. However, deploying LiDAR-based perception algorithms often fails due to a domain gap from the training environment, such as inconsistent angular…
This position paper delves into the transformative role of Geometric Algebra (GA) in advancing specific areas of Computer Graphics (CG) and Extended Reality (XR), particularly in character animation, rendering, rigging, neural rendering,…
State-of-the-art LiDAR calibration frameworks mainly use non-probabilistic registration methods such as Iterative Closest Point (ICP) and its variants. These methods suffer from biased results due to their pair-wise registration procedure…
Localization is an essential component for autonomous robots. A well-established localization approach combines ray casting with a particle filter, leading to a computationally expensive algorithm that is difficult to run on…
LIDAR and RADAR are two commonly used sensors in autonomous driving systems. The extrinsic calibration between the two is crucial for effective sensor fusion. The challenge arises due to the low accuracy and sparse information in RADAR…