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• W4313017528 abstract "ACEFusion is the first 3D reconstruction system able to capture the geometry and semantics of dynamic scenes using an RGB-D camera in real-time on a robotic computing platform. Harnessing the hardware accelerators of an Nvidia Jetson AGX Xavier, the system uses heterogeneous computing to achieve 30 FPS under a 30W power budget. Using a data-parallel design, we perform most image computation on the dedicated hardware accelerators, freeing the general purpose cores and GPU to process 3D geometry. To further increase efficiency, we employ a hybrid geometry representation with octrees for static-semantic reconstruction and surfels for dynamic reconstruction. ACEFusion achieves competitive results on standard benchmarks while efficiently performing a more complex overall task than existing SLAM techniques. Figure. 1 shows the output of our system on a dynamic sequence." @default.
• W4313017528 created "2023-01-05" @default.
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• W4313017528 date "2022-10-23" @default.
• W4313017528 modified "2023-09-30" @default.
• W4313017528 title "ACEFusion - Accelerated and Energy-Efficient Semantic 3D Reconstruction of Dynamic Scenes" @default.
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• W4313017528 doi "https://doi.org/10.1109/iros47612.2022.9981591" @default.
• W4313017528 hasPublicationYear "2022" @default.
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