5 papers
Composition, Not Conversation: VLMs Lose the Scene, Not the Thread
L. D. M. S. Sai Teja, Ufaq Khan, N. Siva Gopala Krishna +5
Vision-language models (VLMs) increasingly reason over visual evidence that is cropped, segmented, retrieved, or revealed over time. Yet most VQA benchmarks present the complete im…
Exploring Social Motion Latent Space and Human Awareness for Effective Robot Navigation in Crowded Environments
Junaid Ahmed Ansari, Satyajit Tourani, Gourav Kumar +1
This work proposes a novel approach to social robot navigation by learning to generate robot controls from a social motion latent space. By leveraging this social motion latent spa…
RoRD: Rotation-Robust Descriptors and Orthographic Views for Local Feature Matching
Udit Singh Parihar, Aniket Gujarathi, Kinal Mehta +4
The use of local detectors and descriptors in typical computer vision pipelines work well until variations in viewpoint and appearance change become extreme. Past research in this…
Early Bird: Loop Closures from Opposing Viewpoints for Perceptually-Aliased Indoor Environments
Satyajit Tourani, Dhagash Desai, Udit Singh Parihar +4
Significant advances have been made recently in Visual Place Recognition (VPR), feature correspondence, and localization due to the proliferation of deep-learning-based methods. Ho…
Topological Mapping for Manhattan-like Repetitive Environments
Sai Shubodh Puligilla, Satyajit Tourani, Tushar Vaidya +3
We showcase a topological mapping framework for a challenging indoor warehouse setting. At the most abstract level, the warehouse is represented as a Topological Graph where the no…