9 papers
CART: Context-Aware Terrain Adaptation using Temporal Sequence Selection for Legged Robots
Kartikeya Singh, Youngjin Kim, Yash Turkar +1
Animals in nature combine multiple modalities, such as sight and feel, to perceive terrain and develop an understanding of how to walk on uneven terrain in an efficient manner. Sim…
Adaptive Illumination Control for Robot Perception
Yash Turkar, Shekoufeh Sadeghi, Karthik Dantu
Robot perception under low light or high dynamic range is usually improved downstream - via more robust feature extraction, image enhancement, or closed-loop exposure control. Howe…
QAL: A Loss for Recall Precision Balance in 3D Reconstruction
Pranay Meshram, Yash Turkar, Kartikeya Singh +3
Volumetric learning underpins many 3D vision tasks such as completion, reconstruction, and mesh generation, yet training objectives still rely on Chamfer Distance (CD) or Earth Mov…
Language-in-the-Loop Culvert Inspection on the Erie Canal
Yash Turkar, Yashom Dighe, Karthik Dantu
Culverts on canals such as the Erie Canal, built originally in 1825, require frequent inspections to ensure safe operation. Human inspection of culverts is challenging due to age,…
Active Illumination Control in Low-Light Environments using NightHawk
Yash Turkar, Youngjin Kim, Karthik Dantu
Subterranean environments such as culverts present significant challenges to robot vision due to dim lighting and lack of distinctive features. Although onboard illumination can he…
TERA: A Simulation Environment for Terrain Excavation Robot Autonomy
Christo Aluckal, Roopesh Vinodh Kumar Lal, Sean Courtney +5
Developing excavation autonomy is challenging given the environments where excavators operate, the complexity of physical interaction and the degrees of freedom of operation of the…
PANOS: Payload-Aware Navigation in Offroad Scenarios
Kartikeya Singh, Yash Turkar, Christo Aluckal +2
Nature has evolved humans to walk on different terrains by developing a detailed understanding of their physical characteristics. Similarly, legged robots need to develop their cap…
Learning Visual Information Utility with PIXER
Yash Turkar, Timothy Chase, Christo Aluckal +1
Accurate feature detection is fundamental for various computer vision tasks, including autonomous robotics, 3D reconstruction, medical imaging, and remote sensing. Despite advancem…
Empir3D : A Framework for Multi-Dimensional Point Cloud Assessment
Yash Turkar, Pranay Meshram, Christo Aluckal +2
Advancements in sensors, algorithms, and compute hardware have made 3D perception feasible in real time. Current methods to compare and evaluate the quality of a 3D model, such as…