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

Incremental scene reconstruction is essential to the navigation in robotics. Most of the conventional methods typically make use of either TSDF (truncated signed distance functions) volume or neural networks to implicitly represent the…

We present a novel mapping framework for robot navigation which features a multi-level querying system capable to obtain rapidly representations as diverse as a 3D voxel grid, a 2.5D height map and a 2D occupancy grid. These are inherently…

Graph Neural Networks (GNNs) have shown great superiority on non-Euclidean graph data, achieving ground-breaking performance on various graph-related tasks. As a practical solution to train GNN on large graphs with billions of nodes and…

The spatially-varying field of the human visual system has recently received a resurgence of interest with the development of virtual reality (VR) and neural networks. The computational demands of high resolution rendering desired for VR…

The 3D point cloud perception has emerged as a fundamental role for a wide range of applications. In particular, with the rapid development of neural networks, the voxel-based networks attract great attention due to their excellent…

We introduce GRiD: a GPU-accelerated library for computing rigid body dynamics with analytical gradients. GRiD was designed to accelerate the nonlinear trajectory optimization subproblem used in state-of-the-art robotic planning, control,…

We present a new algorithm to quickly generate high-performance GPU implementations of complex imaging and vision pipelines, directly from high-level Halide algorithm code. It is fully automatic, requiring no schedule templates or…

A novel Gibbs Markov random field for spatial data on Cartesian grids based on the modified planar rotator (MPR) model of statistical physics has been recently introduced for efficient and automatic interpolation of big data sets, such as…

Large-scale incremental mapping is fundamental to the development of robust and reliable autonomous systems, as it underpins incremental environmental understanding with sequential inputs for navigation and decision-making. LiDAR is widely…

We propose a GPU-accelerated distributed optimization algorithm for controlling multi-phase optimal power flow in active distribution systems with dynamically changing topologies. To handle varying network configurations and enable…

We present Deformable Voxel Grids (DVGs) for 3D shapes comparison and processing. It consists of a voxel grid which is deformed to approximate the silhouette of a shape, via energy-minimization. By interpreting the DVG as a local…

Recent advancements in 3D Gaussian Splatting (3DGS) have made a significant impact on rendering and reconstruction techniques. Current research predominantly focuses on improving rendering performance and reconstruction quality using…

We present a voxel-based rendering pipeline for large 3D line sets that employs GPU ray-casting to achieve scalable rendering including transparency and global illumination effects that cannot be achieved with GPU rasterization. Even for…

Representing and rendering dynamic scenes has been an important but challenging task. Especially, to accurately model complex motions, high efficiency is usually hard to guarantee. To achieve real-time dynamic scene rendering while also…

The availability of low cost sensors has led to an unprecedented growth in the volume of spatial data. However, the time required to evaluate even simple spatial queries over large data sets greatly hampers our ability to interactively…

Fast, collision-free motion through unknown environments remains a challenging problem for robotic systems. In these situations, the robot's ability to reason about its future motion is often severely limited by sensor field of view (FOV).…

In this work, we propose a novel adaptive grid mapping approach, the Adaptive Patched Grid Map, which enables a situational aware grid based perception for autonomous vehicles. Its structure allows a flexible representation of the…

We present a CUDA accelerated implementation of the Characteristic/Scan Conversion algorithm to generate narrow band signed distance fields in logically Cartesian grids. We outline an approach of task and data management on GPUs based on an…

Faster explicit elastic wavefield simulations are required for large and complex three-dimensional media using a structured finite element method. Such wavefield simulations are suitable for GPUs, which have exhibited improved computational…

Motion planning is an essential process for the navigation of unmanned aerial vehicles (UAVs) where they need to adapt to obstacles and different structures of their operating environment to reach the goal. This paper presents an optimal…