LATITUDE: Robotic Global Localization with Truncated Dynamic Low-pass Filter in City-scale NeRF

Neural Radiance Fields (NeRFs) have made great success in representing complex 3D scenes with high-resolution details and efficient memory. Nevertheless, current NeRF-based pose estimators have no initial pose prediction and are prone to local optima during optimization. In this paper, we present LATITUDE: Global Localization with Truncated Dynamic Low-pass Filter, which introduces a two-stage localization mechanism in city-scale NeRF. In place recognition stage, we train a regressor through images generated from trained NeRFs, which provides an initial value for global localization. In pose optimization stage, we minimize the residual between the observed image and rendered image by directly optimizing the pose on tangent plane. To avoid convergence to local optimum, we introduce a Truncated Dynamic Low-pass Filter (TDLF) for coarse-to-fine pose registration. We evaluate our method on both synthetic and real-world data and show its potential applications for high-precision navigation in large-scale city scenes. Codes and data will be publicly available at https://github.com/jike5/LATITUDE.Comment: 7 pages, 6 figures, submitted to ICRA 202

Hypersonic Research Vehicle (HRV) real-time flight test support feasibility and requirements study. Part 2: Remote computation support for flight systems functions

The requirements are assessed for the use of remote computation to support HRV flight testing. First, remote computational requirements were developed to support functions that will eventually be performed onboard operational vehicles of this type. These functions which either cannot be performed onboard in the time frame of initial HRV flight test programs because the technology of airborne computers will not be sufficiently advanced to support the computational loads required, or it is not desirable to perform the functions onboard in the flight test program for other reasons. Second, remote computational support either required or highly desirable to conduct flight testing itself was addressed. The use is proposed of an Automated Flight Management System which is described in conceptual detail. Third, autonomous operations is discussed and finally, unmanned operations

Augmented Reality: An Overview and Five Directions for AR in Education

Augmented Reality (AR) is an emerging form of experience in which the Real World (RW) is enhanced by computer-generated content tied to specific locations and/or activities. Over the last several years, AR applications have become portable and widely available on mobile de­vices. AR is becoming visible in our audio-visual media (e.g., news, entertainment, sports) and is beginning to enter other aspects of our lives (e.g., e-commerce, travel, marketing) in tangible and exciting ways. Facilitating ubiquitous learning, AR will give learners instant access to location-specific information compiled and provided by numerous sources (2009). Both the 2010 and 2011 Horizon Reports predict that AR will soon see widespread use on US college campuses. In prepa­ration, this paper offers an overview of AR, examines recent AR developments, explores the impact of AR on society, and evaluates the implications of AR for learning and education

Mobile graphics: SIGGRAPH Asia 2017 course

Peer ReviewedPostprint (published version