相关论文: GPU Accelerated Voxel Grid Generation for Fast MAV…
In this work, we present a dense tracking and mapping system named Vox-Fusion, which seamlessly fuses neural implicit representations with traditional volumetric fusion methods. Our approach is inspired by the recently developed implicit…
UAV missions often require specific geometric constraints to be satisfied between ground locations and the vehicle location. Such requirements are typical for contexts where line-of-sight must be maintained between the vehicle location and…
A novel and scalable geometric multi-level algorithm is presented for the numerical solution of elliptic partial differential equations, specially designed to run with high occupancy of streaming processors inside Graphics Processing…
Autonomous agents rely on sensor data to construct representations of their environments, essential for predicting future events and planning their actions. However, sensor measurements suffer from limited range, occlusions, and sensor…
The ability of Gaussian processes (GPs) to predict the behavior of dynamical systems as a more sample-efficient alternative to parametric models seems promising for real-world robotics research. However, the computational complexity of GPs…
About: We introduce a GPU-accelerated LOD construction process that creates a hybrid voxel-point-based variation of the widely used layered point cloud (LPC) structure for LOD rendering and streaming. The massive performance improvements…
Visual generation has witnessed remarkable progress in single-image tasks, yet extending these capabilities to temporal sequences remains challenging. Current approaches either build specialized video models from scratch with enormous…
This paper proposes a novel heterogeneous grid convolution that builds a graph-based image representation by exploiting heterogeneity in the image content, enabling adaptive, efficient, and controllable computations in a convolutional…
The Stixel World is a medium-level, compact representation of road scenes that abstracts millions of disparity pixels into hundreds or thousands of stixels. The goal of this work is to implement and evaluate a complete multi-stixel…
Recent work has demonstrated real-time mapping and reconstruction from dense perception, while motion planning based on distance fields has been shown to achieve fast, collision-free motion synthesis with good convergence properties.…
The generation of high-fidelity view synthesis is essential for robotic navigation and interaction but remains challenging, particularly in indoor environments and real-time scenarios. Existing techniques often require significant…
Graph representation is a powerful abstraction of real-world objects and relations. Computing the Graph Edit Distance (GED) between graphs is critical in domains such as bioinformatics, machine learning, and pattern recognition. GED…
In the field of Simultaneous Localization and Mapping (SLAM), researchers have always pursued better performance in terms of accuracy and time cost. Traditional algorithms typically rely on fundamental geometric elements in images to…
Real-time rendering of dynamic line sets is relevant in many visualization tasks, including unsteady flow visualization and interactive white matter reconstruction from Magnetic Resonance Imaging. High-quality global illumination and…
In this article, we consider the problem of trajectory planning and control for on-road driving of an autonomous ground vehicle (AGV) in presence of static or moving obstacles. We propose a systematic approach to partition the…
Navigating dynamic environments requires the robot to generate collision-free trajectories and actively avoid moving obstacles. Most previous works designed path planning algorithms based on one single map representation, such as the…
NeRFs have revolutionized the world of per-scene radiance field reconstruction because of their intrinsic compactness. One of the main limitations of NeRFs is their slow rendering speed, both at training and inference time. Recent research…
3D Gaussian Splatting (3DGS) has emerged as an efficient approach for achieving photorealistic rendering. Recent MLP-based variants further improve visual fidelity but introduce substantial decoding overhead during rendering. To alleviate…
This research proposes a practical method for detecting featureless objects by using image alignment approach with a robust similarity measure in industrial applications. This similarity measure is robust against occlusion, illumination…
Environment prediction frameworks are integral for autonomous vehicles, enabling safe navigation in dynamic environments. LiDAR generated occupancy grid maps (L-OGMs) offer a robust bird's eye-view scene representation that facilitates…