425 citations · 1.8k across the 99 of their papers we have counts for
13 papers · 1 filter
Bag-of-Word-Groups (BoWG): A Robust and Efficient Loop Closure Detection Method Under Perceptual Aliasing
Xiang Fei, Tina Tian, Howie Choset +1
Loop closure is critical in Simultaneous Localization and Mapping (SLAM) systems to reduce accumulative drift and ensure global mapping consistency. However, conventional methods s…
iSimLoc: Visual Global Localization for Previously Unseen Environments with Simulated Images
Peng Yin, Ivan Cisneros, Ji Zhang +2
The visual camera is an attractive device in beyond visual line of sight (B-VLOS) drone operation, since they are low in size, weight, power, and cost, and can provide redundant mo…
RGB-X Classification for Electronics Sorting
FNU Abhimanyu, Tejas Zodage, Umesh Thillaivasan +8
Effectively disassembling and recovering materials from waste electrical and electronic equipment (WEEE) is a critical step in moving global supply chains from carbon-intensive, mi…
ALTO: A Large-Scale Dataset for UAV Visual Place Recognition and Localization
Ivan Cisneros, Peng Yin, Ji Zhang +2
We present the ALTO dataset, a vision-focused dataset for the development and benchmarking of Visual Place Recognition and Localization methods for Unmanned Aerial Vehicles. The da…
3D Segmentation Learning from Sparse Annotations and Hierarchical Descriptors
Peng Yin, Lingyun Xu, Jianmin Ji +2
One of the main obstacles to 3D semantic segmentation is the significant amount of endeavor required to generate expensive point-wise annotations for fully supervised training. To…
A Study of Domain Generalization on Ultrasound-based Multi-Class Segmentation of Arteries, Veins, Ligaments, and Nerves Using Transfer Learning
Edward Chen, Tejas Sudharshan Mathai, Vinit Sarode +2
Identifying landmarks in the femoral area is crucial for ultrasound (US) -based robot-guided catheter insertion, and their presentation varies when imaged with different scanners.…
Correspondence Matrices are Underrated
Tejas Zodage, Rahul Chakwate, Vinit Sarode +2
Point-cloud registration (PCR) is an important task in various applications such as robotic manipulation, augmented and virtual reality, SLAM, etc. PCR is an optimization problem i…
MaskNet: A Fully-Convolutional Network to Estimate Inlier Points
Vinit Sarode, Animesh Dhagat, Rangaprasad Arun Srivatsan +3
Point clouds have grown in importance in the way computers perceive the world. From LIDAR sensors in autonomous cars and drones to the time of flight and stereo vision systems in o…
One Framework to Register Them All: PointNet Encoding for Point Cloud Alignment
Vinit Sarode, Xueqian Li, Hunter Goforth +5
PointNet has recently emerged as a popular representation for unstructured point cloud data, allowing application of deep learning to tasks such as object detection, segmentation a…
FusionMapping: Learning Depth Prediction with Monocular Images and 2D Laser Scans
Peng Yin, Jianing Qian, Yibo Cao +2
Acquiring accurate three-dimensional depth information conventionally requires expensive multibeam LiDAR devices. Recently, researchers have developed a less expensive option by pr…
xBD: A Dataset for Assessing Building Damage from Satellite Imagery
Ritwik Gupta, Richard Hosfelt, Sandra Sajeev +6
We present xBD, a new, large-scale dataset for the advancement of change detection and building damage assessment for humanitarian assistance and disaster recovery research. Natura…
Globally optimal registration of noisy point clouds
Rangaprasad Arun Srivatsan, Tejas Zodage, Howie Choset
Registration of 3D point clouds is a fundamental task in several applications of robotics and computer vision. While registration methods such as iterative closest point and varian…
PCRNet: Point Cloud Registration Network using PointNet Encoding
Vinit Sarode, Xueqian Li, Hunter Goforth +4
PointNet has recently emerged as a popular representation for unstructured point cloud data, allowing application of deep learning to tasks such as object detection, segmentation a…