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

In this paper we present a framework of key algorithms and data-structures for efficiently generating timetables for any number of AGVs from any given positioning on any given graph to accomplish any given demands as long as a few easily…

Efficient routing of mobile robot fleets is crucial in intralogistics, where delays and deadlocks can substantially reduce system throughput. Roadmap design, specifying feasible transport routes, directly affects fleet coordination and…

Transmittance estimators such as Occupancy Grid (OG) can accelerate the training and rendering of Neural Radiance Field (NeRF) by predicting important samples that contributes much to the generated image. However, OG manages occupied…

Mapping the environment has been an important task for robot navigation and Simultaneous Localization And Mapping (SLAM). LIDAR provides a fast and accurate 3D point cloud map of the environment which helps in map building. However,…

Dense, volumetric maps are essential to enable robot navigation and interaction with the environment. To achieve low latency, dense maps are typically computed onboard the robot, often on computationally constrained hardware. Previous works…

Capturing 4D spatiotemporal surroundings is crucial for the safe and reliable operation of robots in dynamic environments. However, most existing methods address only one side of the problem: they either provide coarse geometric tracking…

We propose an active learning approach to image segmentation that exploits geometric priors to speed up and streamline the annotation process. It can be applied for both background-foreground and multi-class segmentation tasks in 2D images…

Structural clustering is one of the most popular graph clustering methods, which has achieved great performance improvement by utilizing GPUs. Even though, the state-of-the-art GPU-based structural clustering algorithm, GPUSCAN, still…

Computational fluid dynamic simulations often produce large clusters of finite elements with non-trivial, non-convex boundaries and uneven distributions among compute nodes, posing challenges to compositing during interactive volume…

Most existing motion planning algorithms assume that a map (of some quality) is fully determined prior to generating a motion plan. In many emerging applications of robotics, e.g., fast-moving agile aerial robots with constrained embedded…

Voxel-based segmentation volumes often store a large number of labels and voxels, and the resulting amount of data can make storage, transfer, and interactive visualization difficult. We present a lossless compression technique which…

Many disciplines of science and engineering deal with problems related to compositions, ranging from chemical compositions in materials science to portfolio compositions in economics. They exist in non-Euclidean simplex spaces, causing many…

In this work, we propose a computationally efficient algorithm for visual policy learning that leverages differentiable simulation and first-order analytical policy gradients. Our approach decouple the rendering process from the computation…

The convex hull is a fundamental geometrical structure for many applications where groups of points must be enclosed or represented by a convex polygon. Although efficient sequential convex hull algorithms exist, and are constantly being…

Implicit methods and GPU parallelization are two distinct yet powerful strategies for accelerating high-order CFD algorithms. However, few studies have successfully integrated both approaches within high-speed flow solvers. The core…

Recent advancements in camera-based occupancy prediction have focused on the simultaneous prediction of 3D semantics and scene flow, a task that presents significant challenges due to specific difficulties, e.g., occlusions and unbalanced…

In this paper, a novel approach is introduced which utilizes a Rapidly-exploring Random Graph to improve sampling-based autonomous exploration of unknown environments with unmanned ground vehicles compared to the current state of the art.…

We present GO-Surf, a direct feature grid optimization method for accurate and fast surface reconstruction from RGB-D sequences. We model the underlying scene with a learned hierarchical feature voxel grid that encapsulates multi-level…

Hypergraph partitioning is a pervasive NP-hard problem, and accelerating its computation on GPU can both slice time-to-solution and raise quality of results. In this work, we implement a multi-level hypergraph partitioning algorithm on GPU…

In this paper, an efficient motion planning approach with grid-based generalized Voronoi diagrams (G$ \mathbf{^2} $VD) is newly proposed for mobile robots. Different from existing approaches, the novelty of this work is twofold: 1) a new…