8 papers
Non-conflicting Energy Minimization in Reinforcement Learning based Robot Control
Skand Peri, Akhil Perincherry, Bikram Pandit +1
Efficient robot control often requires balancing task performance with energy expenditure. A common approach in reinforcement learning (RL) is to penalize energy use directly as pa…
Harnessing Input-Adaptive Inference for Efficient VLN
Dongwoo Kang, Akhil Perincherry, Zachary Coalson +3
An emerging paradigm in vision-and-language navigation (VLN) is the use of history-aware multi-modal transformer models. Given a language instruction, these models process observat…
Do Visual Imaginations Improve Vision-and-Language Navigation Agents?
Akhil Perincherry, Jacob Krantz, Stefan Lee
Vision-and-Language Navigation (VLN) agents are tasked with navigating an unseen environment using natural language instructions. In this work, we study if visual representations o…
Geometry-guided Cross-view Diffusion for One-to-many Cross-view Image Synthesis
Tao Jun Lin, Wenqing Wang, Yujiao Shi +3
This paper presents a novel approach for cross-view synthesis aimed at generating plausible ground-level images from corresponding satellite imagery or vice versa. We refer to thes…
Weakly-supervised Camera Localization by Ground-to-satellite Image Registration
Yujiao Shi, Hongdong Li, Akhil Perincherry +1
The ground-to-satellite image matching/retrieval was initially proposed for city-scale ground camera localization. This work addresses the problem of improving camera pose accuracy…
Increasing SLAM Pose Accuracy by Ground-to-Satellite Image Registration
Yanhao Zhang, Yujiao Shi, Shan Wang +4
Vision-based localization for autonomous driving has been of great interest among researchers. When a pre-built 3D map is not available, the techniques of visual simultaneous local…
View Consistent Purification for Accurate Cross-View Localization
Shan Wang, Yanhao Zhang, Akhil Perincherry +2
This paper proposes a fine-grained self-localization method for outdoor robotics that utilizes a flexible number of onboard cameras and readily accessible satellite images. The pro…
Boosting 3-DoF Ground-to-Satellite Camera Localization Accuracy via Geometry-Guided Cross-View Transformer
Yujiao Shi, Fei Wu, Akhil Perincherry +2
Image retrieval-based cross-view localization methods often lead to very coarse camera pose estimation, due to the limited sampling density of the database satellite images. In thi…