相关论文: GPU Accelerated Voxel Grid Generation for Fast MAV…

Grid space partitioning is a technique to speed up queries to graphics databases. We present a parallel grid construction algorithm which can efficiently construct a structured grid on GPU hardware. Our approach is substantially faster than…

Occupancy grid maps (OGMs) are fundamental to most systems for autonomous robotic navigation. However, CPU-based implementations struggle to keep up with data rates from modern 3D lidar sensors, and provide little capacity for modern…

Determining the occupancy status of locations in the environment is a fundamental task for safety-critical robotic applications. Traditional occupancy grid mapping methods subdivide the environment into a grid of voxels, each associated…

This paper proposes a real-time multi-plane segmentation method based on GPU-accelerated high-resolution 3D voxel mapping for legged robot locomotion. Existing online planar mapping approaches struggle to balance accuracy and computational…

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…

We present a local 3D voxel mapping framework for off-road path planning and navigation. Our method provides both hard and soft positive obstacle detection, negative obstacle detection, slope estimation, and roughness estimation. By using a…

Perception still remains a challenging problem for autonomous navigation in unknown environment, especially for aerial vehicles. Most mapping algorithms for autonomous navigation are specifically designed for their very intended task, which…

We introduce FastGraph, a novel GPU-optimized k-nearest neighbor algorithm specifically designed to accelerate graph construction in low-dimensional spaces (2-10 dimensions), critical for high-performance graph neural networks. Our method…

Probabilistic volumetric mapping (PVM) represents a 3D environmental map for an autonomous robotic navigational task. A popular implementation such as Octomap is widely used in the robotics community for such a purpose. The Octomap relies…

We propose a framework for active mapping and exploration that leverages Gaussian splatting for constructing dense maps. Further, we develop a GPU-accelerated motion planning algorithm that can exploit the Gaussian map for real-time…

Efficient and scalable 3D surface reconstruction from range data remains a core challenge in computer graphics and vision, particularly in real-time and resource-constrained scenarios. Traditional volumetric methods based on…

Direct optimization of interpolated features on multi-resolution voxel grids has emerged as a more efficient alternative to MLP-like modules. However, this approach is constrained by higher memory expenses and limited representation…

Robotics applications often rely on scene reconstructions to enable downstream tasks. In this work, we tackle the challenge of actively building an accurate map of an unknown scene using an RGB-D camera on a mobile platform. We propose a…

Most of the existing robotic exploration schemes use occupancy grid representations and geometric targets known as frontiers. The occupancy grid representation relies on the assumption of independence between grid cells and ignores…

Safe and high-speed navigation is a key enabling capability for real world deployment of robotic systems. A significant limitation of existing approaches is the computational bottleneck associated with explicit mapping and the limited field…

State-of-the-art 3D-aware generative models rely on coordinate-based MLPs to parameterize 3D radiance fields. While demonstrating impressive results, querying an MLP for every sample along each ray leads to slow rendering. Therefore,…

Exploration and collision-free navigation through an unknown environment is a fundamental task for autonomous robots. In this paper, a novel exploration strategy for Micro Aerial Vehicles (MAVs) is presented. The goal of the exploration…

A dense SLAM system is essential for mobile robots, as it provides localization and allows navigation, path planning, obstacle avoidance, and decision-making in unstructured environments. Due to increasing computational demands the use of…

This article introduces a novel method for converting 3D voxel maps, commonly utilized by robots for localization and navigation, into 2D occupancy maps for both unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs). The…

This paper proposes a solution to the problem of smooth path planning for mobile robots in dynamic and unknown environments. A novel concept of Time-Warped Grid is introduced to predict the pose of obstacles in the environment and avoid…