9 citations · 22 across the 18 of their papers we have counts for
19 papers
OPAL: Omnidirectional Path-efficient Aerial 3D expLoration
Yoga Satwik Chappidi, Avideh Zakhor
Autonomous exploration is critical for robot mapping unknown environments. Desirable characteristics of exploration algorithms include compute efficiency and small traversed distan…
Vision-Guided Outdoor Flight and Obstacle Evasion via Reinforcement Learning
Shiladitya Dutta, Aayush Gupta, Varun Saran +1
Although quadcopters boast impressive traversal capabilities enabled by their omnidirectional maneuverability, the need for continuous pilot control in complex environments impedes…
Autonomous Frontier-Based Exploration with VLM Guidance
Aarush Aitha, Avideh Zakhor
Autonomous robotic exploration of unknown and hazardous environments, a long-standing challenge, can be significantly improved by leveraging the advanced reasoning of Vision-Langua…
Semantic-Aware Guided Drone Exploration for Language-Conditioned 3D Indoor Mapping
Nitin Vegesna, Avideh Zakhor
We present Semantic-Aware Guided Exploration, SAGE, a system for open-vocabulary exploration in unknown 3D indoor environments that preserves coverage-oriented behavior while allow…
Indoor Asset Detection in Large Scale 360° Drone-Captured Imagery via 3D Gaussian Splatting
Monica Tang, Avideh Zakhor
We present an approach for object-level detection and segmentation of target indoor assets in 3D Gaussian Splatting (3DGS) scenes, reconstructed from 360° drone-captured imagery. W…
Versatile Locomotion Skills for Hexapod Robots
Tomson Qu, Dichen Li, Avideh Zakhor +2
Hexapod robots are potentially suitable for carrying out tasks in cluttered environments since they are stable, compact, and light weight. They also have multi-joint legs and varia…
Swap Path Network for Robust Person Search Pre-training
Lucas Jaffe, Avideh Zakhor
In person search, we detect and rank matches to a query person image within a set of gallery scenes. Most person search models make use of a feature extraction backbone, followed b…
Scalable Indoor Novel-View Synthesis using Drone-Captured 360 Imagery with 3D Gaussian Splatting
Yuanbo Chen, Chengyu Zhang, Jason Wang +2
Scene reconstruction and novel-view synthesis for large, complex, multi-story, indoor scenes is a challenging and time-consuming task. Prior methods have utilized drones for data c…
Adapting Segment Anything Model to Melanoma Segmentation in Microscopy Slide Images
Qingyuan Liu, Avideh Zakhor
Melanoma segmentation in Whole Slide Images (WSIs) is useful for prognosis and the measurement of crucial prognostic factors such as Breslow depth and primary invasive tumor size.…
Gallery Filter Network for Person Search
Lucas Jaffe, Avideh Zakhor
In person search, we aim to localize a query person from one scene in other gallery scenes. The cost of this search operation is dependent on the number of gallery scenes, making i…
Misinformation Detection in Social Media Video Posts
Kehan Wang, David Chan, Seth Z. Zhao +2
With the growing adoption of short-form video by social media platforms, reducing the spread of misinformation through video posts has become a critical challenge for social media…
Recognition-Aware Learned Image Compression
Maxime Kawawa-Beaudan, Ryan Roggenkemper, Avideh Zakhor
Learned image compression methods generally optimize a rate-distortion loss, trading off improvements in visual distortion for added bitrate. Increasingly, however, compressed imag…
Drone Object Detection Using RGB/IR Fusion
Lizhi Yang, Ruhang Ma, Avideh Zakhor
Object detection using aerial drone imagery has received a great deal of attention in recent years. While visible light images are adequate for detecting objects in most scenarios,…
Immediate Proximity Detection Using Wi-Fi-Enabled Smartphones
Zach Van Hyfte, Avideh Zakhor
Smartphone apps for exposure notification and contact tracing have been shown to be effective in controlling the COVID-19 pandemic. However, Bluetooth Low Energy tokens similar to…
Multi-Modal Semantic Inconsistency Detection in Social Media News Posts
Scott McCrae, Kehan Wang, Avideh Zakhor
As computer-generated content and deepfakes make steady improvements, semantic approaches to multimedia forensics will become more important. In this paper, we introduce a novel cl…
Fast, Accurate Barcode Detection in Ultra High-Resolution Images
Jerome Quenum, Kehan Wang, Avideh Zakhor
Object detection in Ultra High-Resolution (UHR) images has long been a challenging problem in computer vision due to the varying scales of the targeted objects. When it comes to ba…
Temporal LiDAR Frame Prediction for Autonomous Driving
David Deng, Avideh Zakhor
Anticipating the future in a dynamic scene is critical for many fields such as autonomous driving and robotics. In this paper we propose a class of novel neural network architectur…
GenScan: A Generative Method for Populating Parametric 3D Scan Datasets
Mohammad Keshavarzi, Oladapo Afolabi, Luisa Caldas +2
The availability of rich 3D datasets corresponding to the geometrical complexity of the built environments is considered an ongoing challenge for 3D deep learning methodologies. To…
Duodepth: Static Gesture Recognition Via Dual Depth Sensors
Ilya Chugunov, Avideh Zakhor
Static gesture recognition is an effective non-verbal communication channel between a user and their devices; however many modern methods are sensitive to the relative pose of the…