148 citations · 242 across the 60 of their papers we have counts for
46 papers · 1 filter
Beyond Frontiers: Scene-Anomaly Guided Autonomous Exploration
Akash Kumbar, Abhinav Raundhal, Madhava Krishna
Autonomous exploration of unknown 3D environments is traditionally driven by coverage-maximizing geometric heuristics. However, these methods typically determine exploration target…
Hierarchical Unsupervised Topological SLAM
Ayush Sharma, Yash Mehan, Pradyumna Dasu +2
In this paper we present a novel framework for unsupervised topological clustering resulting in improved loop. In this paper we present a novel framework for unsupervised topologic…
Instance-Level Semantic Maps for Vision Language Navigation
Laksh Nanwani, Anmol Agarwal, Kanishk Jain +7
Humans have a natural ability to perform semantic associations with the surrounding objects in the environment. This allows them to create a mental map of the environment, allowing…
UAP-BEV: Uncertainty Aware Planning using Bird's Eye View generated from Surround Monocular Images
Vikrant Dewangan, Basant Sharma, Tushar Choudhary +4
Autonomous driving requires accurate reasoning of the location of objects from raw sensor data. Recent end-to-end learning methods go from raw sensor data to a trajectory output vi…
FinderNet: A Data Augmentation Free Canonicalization aided Loop Detection and Closure technique for Point clouds in 6-DOF separation
Sudarshan S Harithas, Gurkirat Singh, Aneesh Chavan +4
We focus on the problem of LiDAR point cloud based loop detection (or Finding) and closure (LDC) in a multi-agent setting. State-of-the-art (SOTA) techniques directly generate lear…
Leveraging Distributional Bias for Reactive Collision Avoidance under Uncertainty: A Kernel Embedding Approach
Anish Gupta, Arun Kumar Singh, K. Madhava Krishna
Many commodity sensors that measure the robot and dynamic obstacle's state have non-Gaussian noise characteristics. Yet, many current approaches treat the underlying-uncertainty in…