The key to autonomous navigation in unmanned systems is the ability to recognize static and moving objects in the environment and to support the task of predicting the future state of the environment, avoiding collisions, and planning. However, because the existing 3D LiDAR point-cloud moving object segmentation (MOS) convolutional neural network (CNN) models are very complex and have large computation burden, it is difficult to perform real-time processing on embedded platforms. In this paper, we propose a lightweight MOS network structure based on LiDAR point-cloud sequence range images with only 2.3 M parameters, which is 66% less than the state-of-the-art network. When running on RTX 3090 GPU, the processing time is 35.82 ms per frame and it achieves an intersection-over-union(IoU) score of 51.3% on the SemanticKITTI dataset. In addition, the proposed CNN successfully runs the FPGA platform using an NVDLA-like hardware architecture, and the system achieves efficient and accurate moving-object segmentation of LiDAR point clouds at a speed of 32 fps, meeting the real-time requirements of autonomous vehicles.

Experiments, and a scripting interface to deploy custom pipelines. 1

Despite steady progress, text entry in Extended Reality (XR) often remains slower and more effortful than typing on a physical keyboard or touchscreen. We explore a simple idea: use gaze to swipe through a virtual keyboard for the fast, low-effort where and a manual pinch held throughout the swipe for the when, extending and validating it through a series of user studies. We first show that a basic version including a low-latency decoder with spatiotemporal Dynamic Time Warping and fixation filtering outperforms selecting individual keys sequentially, either by finger tapping each or gazing at each while pinching. We then add mid-swipe prediction and in-gesture cancellation, improving words per minute (WPM) without hurting accuracy. We show that this approach is faster and more preferred than previous gaze-swipe approaches, finger tapping with prediction, or hand swiping with the same additions. Furthermore, a seven-day, 30-session study demonstrates sustained learning, with peak performance reaching 64.7 WPM.