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We develop an accurate and computationally efficient emulator to model the gravitational lensing magnification probability distribution function (PDF), enabling robust cosmological inference of point sources such as supernovae and…
While multi-joint continuum robots are highly dexterous and flexible, designing an optimal robot can be challenging due to its kinematics involving curvatures. Hence, the current work presents a computational method developed to find…
Analyzing and identifying the shortcomings of current subdivision methods for finding intersections of rays with fibers defined by the surface of a circular contour swept along a B\'ezier curve, we present a new algorithm that improves…
We present a real-time algorithm that finds the Penetration Depth (PD) between general polygonal models based on iterative and local optimization techniques. Given an in-collision configuration of an object in configuration space, we find…
This work presents an extrinsic parameter estimation algorithm between a 3D LIDAR and a Projective Camera using a marker-less planar target, by exploiting Planar Surface Point to Plane and Planar Edge Point to back-projected Plane geometric…
Current traditional methods for LiDAR-camera extrinsics estimation depend on offline targets and human efforts, while learning-based approaches resort to iterative refinement for calibration results, posing constraints on their…
Research on differentiable scene representations is consistently moving towards more efficient, real-time models. Recently, this has led to the popularization of splatting methods, which eschew the traditional ray-based rendering of…
In this paper, a novel channel modeling approach, named light detection and ranging (LiDAR)-aided geometry-based stochastic modeling (LA-GBSM), is developed. Based on the developed LA-GBSM approach, a new millimeter wave (mmWave) channel…
As an efficient image contrast enhancement (CE) tool, adaptive gamma correction (AGC) was previously proposed by relating gamma parameter with cumulative distribution function (CDF) of the pixel gray levels within an image. ACG deals well…
This paper presents an algebro-geometric solution to the problem of segmenting an unknown number of subspaces of unknown and varying dimensions from sample data points. We represent the subspaces with a set of homogeneous polynomials whose…
3D Gaussian Splatting (3DGS) enables efficient reconstruction and high-fidelity real-time rendering of complex scenes on consumer hardware. However, due to its rasterization-based formulation, 3DGS is constrained to ideal pinhole cameras…
Widely-used LiDAR-based 3D object detectors often neglect fundamental geometric information readily available from the object proposals in their confidence estimation. This is mostly due to architectural design choices, which were often…
Recent progress in the automated driving system (ADS) and advanced driver assistant system (ADAS) has shown that the combined use of 3D light detection and ranging (LiDAR) and the camera is essential for an intelligent vehicle to perceive…
Looming, traditionally defined as the relative expansion of objects in the observer's retina, is a fundamental visual cue for perception of threat and can be used to accomplish collision free navigation. The measurement of the looming cue…
We present a dynamic algorithm for the recognition of proper circular-arc (PCA) graphs, that supports the insertion and removal of vertices (together with its incident edges). The main feature of the algorithm is that it outputs a minimally…
Lidar has become an essential sensor for autonomous driving as it provides reliable depth estimation. Lidar is also the primary sensor used in building 3D maps which can be used even in the case of low-cost systems which do not use Lidar.…
We present the first algorithm to efficiently compute certifiably optimal solutions to range-aided simultaneous localization and mapping (RA-SLAM) problems. Robotic navigation systems increasingly incorporate point-to-point ranging sensors,…
Accurate extrinsic calibration of multiple LiDARs is crucial for improving the foundational performance of three-dimensional (3D) map reconstruction systems. This paper presents a novel targetless extrinsic calibration framework for…
The incoherent scatter radar (ISR) technique is a powerful remote sensing tool for ionosphere and thermosphere dynamics in the near-Earth space environment. Weak ISR scatter from naturally occurring Langmuir oscillations, or plasma lines,…
Lidar sensors are widely used in various applications, ranging from scientific fields over industrial use to integration in consumer products. With an ever growing number of different driver assistance systems, they have been introduced to…