4 papers
Instant Colorization of Gaussian Splats
Daniel Lieber, Alexander Mock, Nils Wandel
Gaussian Splatting has recently become one of the most popular frameworks for photorealistic 3D scene reconstruction and rendering. While current rasterizers allow for efficient ma…
RadaRays: Real-time Simulation of Rotating FMCW Radar for Mobile Robotics via Hardware-accelerated Ray Tracing
Alexander Mock, Martin Magnusson, Joachim Hertzberg
RadaRays allows for the accurate modeling and simulation of rotating FMCW radar sensors in complex environments, including the simulation of reflection, refraction, and scattering…
Mesh-based Object Tracking for Dynamic Semantic 3D Scene Graphs via Ray Tracing
Lennart Niecksch, Alexander Mock, Felix Igelbrink +2
In this paper, we present a novel method for 3D geometric scene graph generation using range sensors and RGB cameras. We initially detect instance-wise keypoints with a YOLOv8s mod…
MICP-L: Mesh-based ICP for Robot Localization using Hardware-Accelerated Ray Casting
Alexander Mock, Sebastian Pütz, Thomas Wiemann +1
Triangle mesh maps are a versatile 3D environment representation for robots to navigate in challenging indoor and outdoor environments exhibiting tunnels, hills and varying slopes.…