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

We introduce a geometric multigrid method for solving linear systems arising from variational problems on surfaces in geometry processing, Gravo MG. Our scheme uses point clouds as a reduced representation of the levels of the multigrid…

Image segmentation plays an important role in computer vision, object detection, traffic control, and video surveillance. Typically, it is a critical step in the 3D reconstruction of a specific organ in medical image processing which…

Recently, graphics processors (GPUs) have been increasingly leveraged in a variety of scientific computing applications. However, architectural differences between CPUs and GPUs necessitate the development of algorithms that take advantage…

In this paper, we present a novel workflow consisting of algebraic algorithms and data structures for fast and topologically accurate conversion of vector data models such as Boundary Representations into voxels (topological voxelization);…

High-fidelity 3D occupancy mapping is essential for many edge-based applications (such as AR/VR and autonomous navigation) but is limited by power constraints. We present Gleanmer, a system on chip (SoC) with an accelerator for GMMap, a 3D…

Autonomous navigation in unknown environments is challenging and demands the consideration of both geometric and semantic information in order to parse the navigability of the environment. In this work, we propose a novel space modeling…

In this work we propose an accelerated stochastic learning system for very large-scale applications. Acceleration is achieved by mapping the training algorithm onto massively parallel processors: we demonstrate a parallel, asynchronous GPU…

Picking objects in a narrow space such as shelf bins is an important task for humanoid to extract target object from environment. In those situations, however, there are many occlusions between the camera and objects, and this makes it…

Low-latency detections of gravitational waves (GWs) are crucial to enable prompt follow-up observations to astrophysical transients by conventional telescopes. We have developed a low-latency pipeline using a technique called Summed…

We present CCO-VOXEL: the very first chance-constrained optimization (CCO) algorithm that can compute trajectory plans with probabilistic safety guarantees in real-time directly on the voxel-grid representation of the world. CCO-VOXEL maps…

Autonomous scene exposure and exploration, especially in localization or communication-denied areas, useful for finding targets in unknown scenes, remains a challenging problem in computer navigation. In this work, we present a novel method…

Although 3D Gaussian Splatting (3D-GS) achieves efficient rendering for novel view synthesis, extending it to dynamic scenes still results in substantial memory overhead from replicating Gaussians across frames. To address this challenge,…

Energy consumption of memory accesses dominates the compute energy in energy-constrained robots which require a compact 3D map of the environment to achieve autonomy. Recent mapping frameworks only focused on reducing the map size while…

We propose a GPU-based distributed optimization algorithm, aimed at controlling optimal power flow in multi-phase and unbalanced distribution systems. Typically, conventional distributed optimization algorithms employed in such scenarios…

Environment prediction frameworks are critical for the safe navigation of autonomous vehicles (AVs) in dynamic settings. LiDAR-generated occupancy grid maps (L-OGMs) offer a robust bird's-eye view for the scene representation, enabling…

Scene flow estimation is a foundational task for many robotic applications, including robust dynamic object detection, automatic labeling, and sensor synchronization. Two types of approaches to the problem have evolved: 1) Supervised and 2)…

Layer assignment is critical for global routing of VLSI circuits. It converts 2D routing paths into 3D routing solutions by determining the proper metal layer for each routing segments to minimize congestion and via count. As different…

Occupancy estimation has become a prominent task in 3D computer vision, particularly within the autonomous driving community. In this paper, we present a novel approach to occupancy estimation, termed GaussianFlowOcc, which is inspired by…

A major element of depth perception and 3D understanding is the ability to predict the 3D layout of a scene and its contained objects for a novel pose. Indoor environments are particularly suitable for novel view prediction, since the set…

We present a novel method for generating, predicting, and using Spatiotemporal Occupancy Grid Maps (SOGM), which embed future information of dynamic scenes. Our automated generation process creates groundtruth SOGMs from previous navigation…