In recent years, the demand for mapping construction sites or buildings using light detection and ranging~(LiDAR) sensors has been increased to model environments for efficient site management. However, it is observed that sometimes LiDAR-based approaches diverge in narrow and confined environments, such as spiral stairs and corridors, caused by fixed parameters regardless of the changes in the environments. That is, the parameters of LiDAR (-inertial) odometry are mostly set for open space; thus, if the same parameters suitable for the open space are applied in a corridor-like scene, it results in divergence of odometry methods, which is referred to as \textit{degeneracy}. To tackle this degeneracy problem, we propose a robust LiDAR inertial odometry called \textit{AdaLIO}, which employs an adaptive parameter setting strategy. To this end, we first check the degeneracy by checking whether the surroundings are corridor-like environments. If so, the parameters relevant to voxelization and normal vector estimation are adaptively changed to increase the number of correspondences. As verified in a public dataset, our proposed method showed promising performance in narrow and cramped environments, avoiding the degeneracy problem.

Three rhinos defined and printed using OpenFab. This poses an enormous computational challenge: large high-resolution prints comprise trillions of voxels and petabytes of data, and modeling and describing the input with spatially varying material mixtures at this scale are simply challenging. Existing 3D printing software is insufficient; in particular, most software is designed to support only a few million primitives, with discrete material choices per object. We present OpenFab, a programmable pipeline for synthesis of multimaterial 3D printed objects that is inspired by RenderMan and modern GPU pipelines. The pipeline supports procedural evaluation of geometric detail and material composition, using shader-like fablets, allowing models to be specified easily and efficiently. The pipeline is implemented in a streaming fashion: only a small fraction of the final volume is stored in memory, and output is fed to the printer with a little startup delay. We demonstrate it on a variety of multimaterial objects. State-of-the-art 3D printing hardware is capable of mixing many materials at up to 100s of dots per inch resolution, using technologies such as photopolymer phase-change inkjet technology. Each layer of the model is ultimately fed to the printer as a full-resolution bitmap where each "pixel" specifies a single material and all layers together define on the order of 108 voxels per cubic inch. This poses an enormous computational challenge as the resulting data is far too large to directly precompute and store; a single cubic foot at this resolution requires at least 1011 voxels and terabytes of storage. Even for small objects, the computation, memory, and storage demands are large.

Learning from 3D Data is a fascinating idea which is well explored and studied in computer vision. This allows one to learn from very sparse LiDAR data, point cloud data as well as 3D objects in terms of CAD models and surfaces etc. Most of the approaches to learn from such data are limited to uniform 3D volume occupancy grids or octree representations. A major challenge in learning from 3D data is that one needs to define a proper resolution to represent it in a voxel grid and this becomes a bottleneck for the learning algorithms. Specifically, while we focus on learning from 3D data, a fine resolution is very important to capture key features in the object and at the same time the data becomes sparser as the resolution becomes finer. There are numerous applications in computer vision where a multi-resolution representation is used instead of a uniform grid representation in order to make the applications memory efficient. Though such methods are difficult to learn from, they are much more efficient in representing 3D data. In this paper, we explore the challenges in learning from such data representation. In particular, we use a multi-level voxel representation where we define a coarse voxel grid that contains information of important voxels(boundary voxels) and multiple fine voxel grids corresponding to each significant voxel of the coarse grid. A multi-level voxel representation can capture important features in the 3D data in a memory efficient way in comparison to an octree representation. Consequently, learning from a 3D object with high resolution, which is paramount in feature recognition, is made efficient.