相关论文: GMMap: Memory-Efficient Continuous Occupancy Map U…

Collocating deep learning training tasks improves GPU utilization but risks resource contention, severe slowdowns, and out-of-memory (OOM) failures. Accurate memory estimation is essential for robust collocation, and GPU utilization…

Decoder-only Transformer models such as GPT have demonstrated exceptional performance in text generation, by autoregressively predicting the next token. However, the efficacy of running GPT on current hardware systems is bounded by low…

3D semantic occupancy prediction is essential for achieving safe, reliable autonomous driving and robotic navigation. Compared to camera-only perception systems, multi-modal pipelines, especially LiDAR-camera fusion methods, can produce…

We present Gaussian Mixture Replay (GMR), a rehearsal-based approach for continual learning (CL) based on Gaussian Mixture Models (GMM). CL approaches are intended to tackle the problem of catastrophic forgetting (CF), which occurs for Deep…

In a typical path planning pipeline for a ground robot, we build a map (e.g., an occupancy grid) of the environment as the robot moves around. While navigating indoors, a ground robot's knowledge about the environment may be limited due to…

Occupancy is crucial for autonomous driving, providing essential geometric priors for perception and planning. However, existing methods predominantly rely on LiDAR-based occupancy annotations, which limits scalability and prevents…

In this paper, we introduce GS-LIVM, a real-time photo-realistic LiDAR-Inertial-Visual mapping framework with Gaussian Splatting tailored for outdoor scenes. Compared to existing methods based on Neural Radiance Fields (NeRF) and 3D…

Sorting is a primitive operation that is a building block for countless algorithms. As such, it is important to design sorting algorithms that approach peak performance on a range of hardware architectures. Graphics Processing Units (GPUs)…

Self-supervised pre-training based on next-token prediction has enabled large language models to capture the underlying structure of text, and has led to unprecedented performance on a large array of tasks when applied at scale. Similarly,…

Recently deep learning-based image compression methods have achieved significant achievements and gradually outperformed traditional approaches including the latest standard Versatile Video Coding (VVC) in both PSNR and MS-SSIM metrics. Two…

Battery-less technology evolved to replace battery usage in space, deep mines, and other environments to reduce cost and pollution. Non-volatile memory (NVM) based processors were explored for saving the system state during a power failure.…

Simultaneous localization and mapping is essential for position tracking and scene understanding. 3D Gaussian-based map representations enable photorealistic reconstruction and real-time rendering of scenes using multiple posed cameras. We…

This paper presents a new approach to predict the occupancy for building energy systems (BES). A Gaussian Process (GP) is used to model the occupancy and is represented as a state space model that is equivalent to the full GP if Kalman…

Recent advances in 3D Gaussian Splatting (3DGS) have demonstrated remarkable capabilities in real-time and photorealistic novel view synthesis. However, traditional 3DGS representations often struggle with large-scale scene management and…

Globally consistent dense maps are a key requirement for long-term robot navigation in complex environments. While previous works have addressed the challenges of dense mapping and global consistency, most require more computational…

Using the spatial structure of various indoor environments as prior knowledge, the robot would construct the map more efficiently. Autonomous mobile robots generally apply simultaneous localization and mapping (SLAM) methods to understand…

The sparse object detection paradigm shift towards dense 3D semantic occupancy prediction is necessary for dealing with long-tail safety challenges for autonomous vehicles. Nonetheless, the current voxelization methods commonly suffer from…

Constructing precise 3D maps is crucial for the development of future map-based systems such as self-driving and navigation. However, generating these maps in complex environments, such as multi-level parking garages or shopping malls,…

Existing Simultaneous Localization and Mapping (SLAM) approaches are limited in their scalability due to growing map size in long-term robot operation. Moreover, processing such maps for localization and planning tasks leads to the…

Contextual optimization enhances decision quality by leveraging side information to improve predictions of uncertain parameters. However, existing approaches face significant challenges when dealing with multimodal or mixtures of…