83 citations · 148 across the 11 of their papers we have counts for
14 papers
Multi-Agent VQA: Exploring Multi-Agent Foundation Models in Zero-Shot Visual Question Answering
Bowen Jiang, Zhijun Zhuang, Shreyas S. Shivakumar +2
This work explores the zero-shot capabilities of foundation models in Visual Question Answering (VQA) tasks. We propose an adaptive multi-agent system, named Multi-Agent VQA, to ov…
Enhancing Scene Graph Generation with Hierarchical Relationships and Commonsense Knowledge
Bowen Jiang, Zhijun Zhuang, Shreyas S. Shivakumar +1
This work introduces an enhanced approach to generating scene graphs by incorporating both a relationship hierarchy and commonsense knowledge. Specifically, we begin by proposing a…
Any Way You Look At It: Semantic Crossview Localization and Mapping with LiDAR
Ian D. Miller, Anthony Cowley, Ravi Konkimalla +5
Currently, GPS is by far the most popular global localization method. However, it is not always reliable or accurate in all environments. SLAM methods enable local state estimation…
DSOL: A Fast Direct Sparse Odometry Scheme
Chao Qu, Shreyas S. Shivakumar, Ian D. Miller +1
In this paper, we describe Direct Sparse Odometry Lite (DSOL), an improved version of Direct Sparse Odometry (DSO). We propose several algorithmic and implementation enhancements w…
LLOL: Low-Latency Odometry for Spinning Lidars
Chao Qu, Shreyas S. Shivakumar, Wenxin Liu +1
In this paper, we present a low-latency odometry system designed for spinning lidars. Many existing lidar odometry methods wait for an entire sweep from the lidar before processing…
PST900: RGB-Thermal Calibration, Dataset and Segmentation Network
Shreyas S. Shivakumar, Neil Rodrigues, Alex Zhou +3
In this work we propose long wave infrared (LWIR) imagery as a viable supporting modality for semantic segmentation using learning-based techniques. We first address the problem of…
Mine Tunnel Exploration using Multiple Quadrupedal Robots
Ian D. Miller, Fernando Cladera, Anthony Cowley +11
Robotic exploration of underground environments is a particularly challenging problem due to communication, endurance, and traversability constraints which necessitate high degrees…
MAVNet: an Effective Semantic Segmentation Micro-Network for MAV-based Tasks
Ty Nguyen, Shreyas S. Shivakumar, Ian D. Miller +9
Real-time semantic image segmentation on platforms subject to size, weight and power (SWaP) constraints is a key area of interest for air surveillance and inspection. In this work,…
DFineNet: Ego-Motion Estimation and Depth Refinement from Sparse, Noisy Depth Input with RGB Guidance
Yilun Zhang, Ty Nguyen, Ian D. Miller +4
Depth estimation is an important capability for autonomous vehicles to understand and reconstruct 3D environments as well as avoid obstacles during the execution. Accurate depth se…
DFuseNet: Deep Fusion of RGB and Sparse Depth Information for Image Guided Dense Depth Completion
Shreyas S. Shivakumar, Ty Nguyen, Ian D. Miller +3
In this paper we propose a convolutional neural network that is designed to upsample a series of sparse range measurements based on the contextual cues gleaned from a high resoluti…
Monocular Camera Based Fruit Counting and Mapping with Semantic Data Association
Xu Liu, Steven W. Chen, Chenhao Liu +5
We present a cheap, lightweight, and fast fruit counting pipeline that uses a single monocular camera. Our pipeline that relies only on a monocular camera, achieves counting perfor…
Real Time Dense Depth Estimation by Fusing Stereo with Sparse Depth Measurements
Shreyas S. Shivakumar, Kartik Mohta, Bernd Pfrommer +2
We present an approach to depth estimation that fuses information from a stereo pair with sparse range measurements derived from a LIDAR sensor or a range camera. The goal of this…
The Open Vision Computer: An Integrated Sensing and Compute System for Mobile Robots
Morgan Quigley, Kartik Mohta, Shreyas S. Shivakumar +8
In this paper we describe the Open Vision Computer (OVC) which was designed to support high speed, vision guided autonomous drone flight. In particular our aim was to develop a sys…
Unsupervised Deep Homography: A Fast and Robust Homography Estimation Model
Ty Nguyen, Steven W. Chen, Shreyas S. Shivakumar +2
Homography estimation between multiple aerial images can provide relative pose estimation for collaborative autonomous exploration and monitoring. The usage on a robotic system req…