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06/08/2023
UAP-BEV: Uncertainty Aware Planning using Bird's Eye View generated from Surround Monocular Images
Autonomous driving requires accurate reasoning of the location of object...
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05/21/2023
Instance-Level Semantic Maps for Vision Language Navigation
Humans have a natural ability to perform semantic associations with the ...
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04/03/2023
FinderNet: A Data Augmentation Free Canonicalization aided Loop Detection and Closure technique for Point clouds in 6-DOF separation
We focus on the problem of LiDAR point cloud based loop detection (or Fi...
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11/30/2022
MVRackLay: Monocular Multi-View Layout Estimation for Warehouse Racks and Shelves
In this paper, we propose and showcase, for the first time, monocular mu...
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09/29/2022
GDIP: Gated Differentiable Image Processing for Object-Detection in Adverse Conditions
Detecting objects under adverse weather and lighting conditions is cruci...
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09/27/2022
UAV-based Visual Remote Sensing for Automated Building Inspection
Unmanned Aerial Vehicle (UAV) based remote sensing system incorporated w...
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09/24/2022
Ground then Navigate: Language-guided Navigation in Dynamic Scenes
We investigate the Vision-and-Language Navigation (VLN) problem in the c...
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09/11/2022
Real-Time Heuristic Framework for Safe Landing of UAVs in Dynamic Scenarios
The world we live in is full of technology and with each passing day the...
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08/05/2022
Leveraging Distributional Bias for Reactive Collision Avoidance under Uncertainty: A Kernel Embedding Approach
Many commodity sensors that measure the robot and dynamic obstacle's sta...
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07/07/2022
Flow Synthesis Based Visual Servoing Frameworks for Monocular Obstacle Avoidance Amidst High-Rises
We propose a novel flow synthesis based visual servoing framework enabli...
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04/02/2022
UrbanFly: Uncertainty-Aware Planning for Navigation Amongst High-Rises with Monocular Visual-Inertial SLAM Maps
We present UrbanFly: an uncertainty-aware real-time planning framework f...
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03/14/2022
Drift Reduced Navigation with Deep Explainable Features
Modern autonomous vehicles (AVs) often rely on vision, LIDAR, and even r...
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03/10/2022
ReF – Rotation Equivariant Features for Local Feature Matching
Sparse local feature matching is pivotal for many computer vision and ro...
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12/24/2021
Non Holonomic Collision Avoidance of Dynamic Obstacles under Non-Parametric Uncertainty: A Hilbert Space Approach
We consider the problem of an agent/robot with non-holonomic kinematics ...
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12/24/2021
Grounding Linguistic Commands to Navigable Regions
Humans have a natural ability to effortlessly comprehend linguistic comm...
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12/21/2021
Design And Analysis Of Three-Output Open Differential with 3-DOF
This paper presents a novel passive three-output differential with three...
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10/28/2021
Learning Actions for Drift-Free Navigation in Highly Dynamic Scenes
We embark on a hitherto unreported problem of an autonomous robot (self-...
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10/06/2021
CCO-VOXEL: Chance Constrained Optimization over Uncertain Voxel-Grid Representation for Safe Trajectory Planning
We present CCO-VOXEL: the very first chance-constrained optimization (CC...
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09/21/2021
Multi-Modal Model Predictive Control through Batch Non-Holonomic Trajectory Optimization: Application to Highway Driving
Standard Model Predictive Control (MPC) or trajectory optimization appro...
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08/20/2021
AutoLay: Benchmarking amodal layout estimation for autonomous driving
Given an image or a video captured from a monocular camera, amodal layou...
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03/18/2021
RP-VIO: Robust Plane-based Visual-Inertial Odometry for Dynamic Environments
Modern visual-inertial navigation systems (VINS) are faced with a critic...
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03/16/2021
RackLay: Multi-Layer Layout Estimation for Warehouse Racks
Given a monocular colour image of a warehouse rack, we aim to predict th...
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03/15/2021
RoRD: Rotation-Robust Descriptors and Orthographic Views for Local Feature Matching
The use of local detectors and descriptors in typical computer vision pi...
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11/25/2020
DRACO: Weakly Supervised Dense Reconstruction And Canonicalization of Objects
We present DRACO, a method for Dense Reconstruction And Canonicalization...
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11/15/2020
BirdSLAM: Monocular Multibody SLAM in Bird's-Eye View
In this paper, we present BirdSLAM, a novel simultaneous localization an...
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11/01/2020
Fast Adaptation of Manipulator Trajectories to Task Perturbation By Differentiating through the Optimal Solution
Joint space trajectory optimization under end-effector task constraints ...
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10/03/2020
Early Bird: Loop Closures from Opposing Viewpoints for Perceptually-Aliased Indoor Environments
Significant advances have been made recently in Visual Place Recognition...
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09/13/2020
Cosine meets Softmax: A tough-to-beat baseline for visual grounding
In this paper, we present a simple baseline for visual grounding for aut...
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06/19/2020
Student Mixture Model Based Visual Servoing
Classical Image-Based Visual Servoing (IBVS) makes use of geometric imag...
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05/09/2020
Understanding Dynamic Scenes using Graph Convolution Networks
We present a novel Multi Relational Graph Convolutional Network (MRGCN) ...
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05/05/2020
SROM: Simple Real-time Odometry and Mapping using LiDAR data for Autonomous Vehicles
In this paper, we present SROM, a novel real-time Simultaneous Localizat...
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04/25/2020
Reconstruct, Rasterize and Backprop: Dense shape and pose estimation from a single image
This paper presents a new system to obtain dense object reconstructions ...
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03/12/2020
LiDAR guided Small obstacle Segmentation
Detecting small obstacles on the road is critical for autonomous driving...
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03/08/2020
DFVS: Deep Flow Guided Scene Agnostic Image Based Visual Servoing
Existing deep learning based visual servoing approaches regress the rela...
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02/19/2020
MonoLayout: Amodal scene layout from a single image
In this paper, we address the novel, highly challenging problem of estim...
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02/16/2020
Topological Mapping for Manhattan-like Repetitive Environments
We showcase a topological mapping framework for a challenging indoor war...
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02/10/2020
Multi-object Monocular SLAM for Dynamic Environments
Multibody monocular SLAM in dynamic environments remains a long-standing...
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02/03/2020
Towards Accurate Vehicle Behaviour Classification With Multi-Relational Graph Convolutional Networks
Understanding on-road vehicle behaviour from a temporal sequence of sens...
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01/21/2020
Reactive Navigation under Non-Parametric Uncertainty through Hilbert Space Embedding of Probabilistic Velocity Obstacles
The probabilistic velocity obstacle (PVO) extends the concept of velocit...
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10/02/2019
Object Parsing in Sequences Using CoordConv Gated Recurrent Networks
We present a monocular object parsing framework for consistent keypoint ...
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09/23/2019
Omnidirectional Tractable Three Module Robot
This paper introduces the Omnidirectional Tractable Three Module Robot f...
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09/23/2019
Modular Pipe Climber
This paper discusses the design and implementation of the Modular Pipe C...
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07/02/2019
SVM Enhanced Frenet Frame Planner For Safe Navigation Amidst Moving Agents
This paper proposes an SVM Enhanced Trajectory Planner for dynamic scene...
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06/09/2019
A Hierarchical Network for Diverse Trajectory Proposals
Autonomous explorative robots frequently encounter scenarios where multi...
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05/12/2019
Integrating Objects into Monocular SLAM: Line Based Category Specific Models
We propose a novel Line based parameterization for category specific CAD...
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05/04/2019
IVO: Inverse Velocity Obstacles for Real Time Navigation
In this paper, we present "IVO: Inverse Velocity Obstacles" an ego-centr...
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12/23/2018
Learning to Prevent Monocular SLAM Failure using Reinforcement Learning
Monocular SLAM refers to using a single camera to estimate robot ego mot...
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12/01/2018
DeCoILFNet: Depth Concatenation and Inter-Layer Fusion based ConvNet Accelerator
Convolutional Neural Networks (CNNs) are rapidly gaining popularity in v...
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11/22/2018
Solving Chance Constrained Optimization under Non-Parametric Uncertainty Through Hilbert Space Embedding
In this paper, we present an efficient algorithm for solving a class of ...
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11/17/2018