7 citations · 14 across the 9 of their papers we have counts for
10 papers
PixelLoop: Shortcut Topological Navigation with Pixel-Level Loops
Sarthak Chittawar, Vansh Garg, Aditya Vadali +4
Although topological mapping and navigation have been studied extensively, the specific role and downstream effect of loop closures in purely topological representations has receiv…
MASt3R-Nav: WayPixel Navigation in Relative 3D Maps
Vansh Garg, Rohit Jayanti, Krish Pandya +5
Visual navigation ability is strongly tied to its underlying representation of the world. Unlike classical 3D maps that require globally-consistent geometry, image- or object-relat…
SegMASt3R: Geometry Grounded Segment Matching
Rohit Jayanti, Swayam Agrawal, Vansh Garg +4
Segment matching is an important intermediate task in computer vision that establishes correspondences between semantically or geometrically coherent regions across images. Unlike…
Leveraging 2D Priors and SDF Guidance for Dynamic Urban Scene Rendering
Siddharth Tourani, Jayaram Reddy, Akash Kumbar +5
Dynamic scene rendering and reconstruction play a crucial role in computer vision and augmented reality. Recent methods based on 3D Gaussian Splatting (3DGS), have enabled accurate…
ObjectReact: Learning Object-Relative Control for Visual Navigation
Sourav Garg, Dustin Craggs, Vineeth Bhat +5
Visual navigation using only a single camera and a topological map has recently become an appealing alternative to methods that require additional sensors and 3D maps. This is typi…
Revisit Anything: Visual Place Recognition via Image Segment Retrieval
Kartik Garg, Sai Shubodh Puligilla, Shishir Kolathaya +2
Accurately recognizing a revisited place is crucial for embodied agents to localize and navigate. This requires visual representations to be distinct, despite strong variations in…
Keypoint Aware Masked Image Modelling
Madhava Krishna, A V Subramanyam
SimMIM is a widely used method for pretraining vision transformers using masked image modeling. However, despite its success in fine-tuning performance, it has been shown to perfor…
QueSTMaps: Queryable Semantic Topological Maps for 3D Scene Understanding
Yash Mehan, Kumaraditya Gupta, Rohit Jayanti +3
Robotic tasks such as planning and navigation require a hierarchical semantic understanding of a scene, which could include multiple floors and rooms. Current methods primarily foc…
LIP-Loc: LiDAR Image Pretraining for Cross-Modal Localization
Sai Shubodh Puligilla, Mohammad Omama, Husain Zaidi +2
Global visual localization in LiDAR-maps, crucial for autonomous driving applications, remains largely unexplored due to the challenging issue of bridging the cross-modal heterogen…
ALT-Pilot: Autonomous navigation with Language augmented Topometric maps
Mohammad Omama, Pranav Inani, Pranjal Paul +4
We present an autonomous navigation system that operates without assuming HD LiDAR maps of the environment. Our system, ALT-Pilot, relies only on publicly available road network in…