26 citations · 75 across the 13 of their papers we have counts for
14 papers
UFM: A Simple Path towards Unified Dense Correspondence with Flow
Yuchen Zhang, Nikhil Keetha, Chenwei Lyu +9
Dense image correspondence is central to many applications, such as visual odometry, 3D reconstruction, object association, and re-identification. Historically, dense correspondenc…
Demonstrating ViSafe: Vision-enabled Safety for High-speed Detect and Avoid
Parv Kapoor, Ian Higgins, Nikhil Keetha +9
Assured safe-separation is essential for achieving seamless high-density operation of airborne vehicles in a shared airspace. To equip resource-constrained aerial systems with this…
RayFronts: Open-Set Semantic Ray Frontiers for Online Scene Understanding and Exploration
Omar Alama, Avigyan Bhattacharya, Haoyang He +6
Open-set semantic mapping is crucial for open-world robots. Current mapping approaches either are limited by the depth range or only map beyond-range entities in constrained settin…
FlowR: Flowing from Sparse to Dense 3D Reconstructions
Tobias Fischer, Samuel Rota Bulò, Yung-Hsu Yang +7
3D Gaussian splatting enables high-quality novel view synthesis (NVS) at real-time frame rates. However, its quality drops sharply as we depart from the training views. Thus, dense…
Map It Anywhere (MIA): Empowering Bird's Eye View Mapping using Large-scale Public Data
Cherie Ho, Jiaye Zou, Omar Alama +7
Top-down Bird's Eye View (BEV) maps are a popular representation for ground robot navigation due to their richness and flexibility for downstream tasks. While recent methods have s…
TartanAviation: Image, Speech, and ADS-B Trajectory Datasets for Terminal Airspace Operations
Jay Patrikar, Joao Dantas, Brady Moon +7
We introduce TartanAviation, an open-source multi-modal dataset focused on terminal-area airspace operations. TartanAviation provides a holistic view of the airport environment by…
Toward General-Purpose Robots via Foundation Models: A Survey and Meta-Analysis
Yafei Hu, Quanting Xie, Vidhi Jain +20
Building general-purpose robots that operate seamlessly in any environment, with any object, and utilizing various skills to complete diverse tasks has been a long-standing goal in…
SplaTAM: Splat, Track & Map 3D Gaussians for Dense RGB-D SLAM
Nikhil Keetha, Jay Karhade, Krishna Murthy Jatavallabhula +4
Dense simultaneous localization and mapping (SLAM) is crucial for robotics and augmented reality applications. However, current methods are often hampered by the non-volumetric or…
FoundLoc: Vision-based Onboard Aerial Localization in the Wild
Yao He, Ivan Cisneros, Nikhil Keetha +6
Robust and accurate localization for Unmanned Aerial Vehicles (UAVs) is an essential capability to achieve autonomous, long-range flights. Current methods either rely heavily on GN…
AnyLoc: Towards Universal Visual Place Recognition
Nikhil Keetha, Avneesh Mishra, Jay Karhade +4
Visual Place Recognition (VPR) is vital for robot localization. To date, the most performant VPR approaches are environment- and task-specific: while they exhibit strong performanc…
ConceptFusion: Open-set Multimodal 3D Mapping
Krishna Murthy Jatavallabhula, Alihusein Kuwajerwala, Qiao Gu +14
Building 3D maps of the environment is central to robot navigation, planning, and interaction with objects in a scene. Most existing approaches that integrate semantic concepts wit…
AirObject: A Temporally Evolving Graph Embedding for Object Identification
Nikhil Varma Keetha, Chen Wang, Yuheng Qiu +2
Object encoding and identification are vital for robotic tasks such as autonomous exploration, semantic scene understanding, and re-localization. Previous approaches have attempted…
A Hierarchical Dual Model of Environment- and Place-Specific Utility for Visual Place Recognition
Nikhil Varma Keetha, Michael Milford, Sourav Garg
Visual Place Recognition (VPR) approaches have typically attempted to match places by identifying visual cues, image regions or landmarks that have high ``utility'' in identifying…
U-Det: A Modified U-Net architecture with bidirectional feature network for lung nodule segmentation
Nikhil Varma Keetha, Samson Anosh Babu P, Chandra Sekhara Rao Annavarapu
Early diagnosis and analysis of lung cancer involve a precise and efficient lung nodule segmentation in computed tomography (CT) images. However, the anonymous shapes, visual featu…