8 papers
MessyKitchens: Contact-rich object-level 3D scene reconstruction
Junaid Ahmed Ansari, Ran Ding, Fabio Pizzati +1
Monocular 3D scene reconstruction has recently seen significant progress. Powered by the modern neural architectures and large-scale data, recent methods achieve high performance i…
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…
BirdSLAM: Monocular Multibody SLAM in Bird's-Eye View
Swapnil Daga, Gokul B. Nair, Anirudha Ramesh +3
In this paper, we present BirdSLAM, a novel simultaneous localization and mapping (SLAM) system for the challenging scenario of autonomous driving platforms equipped with only a mo…
Simple means Faster: Real-Time Human Motion Forecasting in Monocular First Person Videos on CPU
Junaid Ahmed Ansari, Brojeshwar Bhowmick
We present a simple, fast, and light-weight RNN based framework for forecasting future locations of humans in first person monocular videos. The primary motivation for this work wa…
Multi-object Monocular SLAM for Dynamic Environments
Gokul B. Nair, Swapnil Daga, Rahul Sajnani +4
In this paper, we tackle the problem of multibody SLAM from a monocular camera. The term multibody, implies that we track the motion of the camera, as well as that of other dynamic…
INFER: INtermediate representations for FuturE pRediction
Shashank Srikanth, Junaid Ahmed Ansari, Karnik Ram R +3
In urban driving scenarios, forecasting future trajectories of surrounding vehicles is of paramount importance. While several approaches for the problem have been proposed, the bes…
The Earth ain't Flat: Monocular Reconstruction of Vehicles on Steep and Graded Roads from a Moving Camera
Junaid Ahmed Ansari, Sarthak Sharma, Anshuman Majumdar +2
Accurate localization of other traffic participants is a vital task in autonomous driving systems. State-of-the-art systems employ a combination of sensing modalities such as RGB c…
Beyond Pixels: Leveraging Geometry and Shape Cues for Online Multi-Object Tracking
Sarthak Sharma, Junaid Ahmed Ansari, J. Krishna Murthy +1
This paper introduces geometry and object shape and pose costs for multi-object tracking in urban driving scenarios. Using images from a monocular camera alone, we devise pairwise…