相关论文: GPU Accelerated Voxel Grid Generation for Fast MAV…
Autonomous large-scale machine operations require fast, efficient, and collision-free motion planning while addressing unique challenges such as hydraulic actuation limits and underactuated joint dynamics. This paper presents a novel…
We advertise the use of tetrahedral grids constructed via the longest edge bisection algorithm for rendering volumetric data with path tracing. The key benefits of such grids is two-fold. First, they provide a highly adaptive…
Scalable generation of outdoor driving scenes requires 3D representations that remain consistent across multiple viewpoints and scale to large areas. Existing solutions either rely on image or video generative models distilled to 3D space,…
Voxels are among the most popular 3D geometric representations today. Due to their intuitiveness and ease-of-editing, voxels have been widely adopted in stylized games and low-cost independent games. However, the high storage cost of…
Safe Corridors (a series of overlapping convex shapes) have been used recently in multiple state-of-the-art motion planning methods. They allow to represent the free space in the environment in an efficient way for collision avoidance. In…
Virtual content creation and interaction play an important role in modern 3D applications such as AR and VR. Recovering detailed 3D models from real scenes can significantly expand the scope of its applications and has been studied for…
Modeling data sharing in GPU programs is a challenging task because of the massive parallelism and complex data sharing patterns provided by GPU architectures. Better GPU caching efficiency can be achieved through careful task scheduling…
This paper proposes a GPU-accelerated optimization framework for collision avoidance problems where the controlled objects and the obstacles can be modeled as the finite union of convex polyhedra. A novel collision avoidance constraint is…
Autonomous exploration is a crucial aspect of robotics that has numerous applications. Most of the existing methods greedily choose goals that maximize immediate reward. This strategy is computationally efficient but insufficient for…
Robust humanoid locomotion requires accurate and globally consistent perception of the surrounding 3D environment. However, existing perception modules, mainly based on depth images or elevation maps, offer only partial and locally…
Unmanned aerial vehicles (UAVs) are increasingly utilized in search and rescue (SAR) operations to enhance efficiency by enabling rescue teams to cover large search areas in a shorter time. Reducing coverage time directly increases the…
Real-time 3D mapping is a critical component in many important applications today including robotics, AR/VR, and 3D visualization. 3D mapping involves continuously fusing depth maps obtained from depth sensors in phones, robots, and…
Large scale-free graphs are famously difficult to process efficiently: the skewed vertex degree distribution makes it difficult to obtain balanced partitioning. Our research instead aims to turn this into an advantage by partitioning the…
We present a convex hull algorithm that is accelerated on commodity graphics hardware. We analyze and identify the hurdles of writing a recursive divide and conquer algorithm on the GPU and divise a framework for representing this class of…
In this paper we present a novel method for efficient and effective 3D surface reconstruction in open scenes. Existing Neural Radiance Fields (NeRF) based works typically require extensive training and rendering time due to the adopted…
The impending discovery and monitoring of hundreds of new gravitationally lensed quasars and supernovae from upcoming ground and space based large area surveys such as LSST, \textit{Euclid}, and \textit{Roman} necessitates the development…
In this work, we leverage GPUs to construct probabilistically collision-free convex sets in robot configuration space on the fly. This extends the use of modern motion planning algorithms that leverage such representations to changing…
Local search plays a central role in many effective heuristic algorithms for the vehicle routing problem (VRP) and its variants. However, neighborhood exploration is known to be computationally expensive and time consuming, especially for…
In order to satisfy timing constraints, modern real-time applications require massively parallel accelerators such as General Purpose Graphic Processing Units (GPGPUs). Generation after generation, the number of computing clusters made…
Efficient and scalable 3D occupancy mapping is essential for autonomous robot applications in unknown environments. However, traditional occupancy grid representations suffer from two fundamental limitations. First, explicitly storing all…