147 citations · 603 across the 30 of their papers we have counts for
31 papers
VLAD-BuFF: Burst-aware Fast Feature Aggregation for Visual Place Recognition
Ahmad Khaliq, Ming Xu, Stephen Hausler +2
Visual Place Recognition (VPR) is a crucial component of many visual localization pipelines for embodied agents. VPR is often formulated as an image retrieval task aimed at jointly…
AnyLoc: Towards Universal Visual Place Recognition
Nikhil Keetha, Avneesh Mishra, Jay Karhade +4
Visual Place Recognition (VPR) is vital for robot localization. To date, the most performant VPR approaches are environment- and task-specific: while they exhibit strong performanc…
SayPlan: Grounding Large Language Models using 3D Scene Graphs for Scalable Robot Task Planning
Krishan Rana, Jesse Haviland, Sourav Garg +3
Large language models (LLMs) have demonstrated impressive results in developing generalist planning agents for diverse tasks. However, grounding these plans in expansive, multi-flo…
DisPlacing Objects: Improving Dynamic Vehicle Detection via Visual Place Recognition under Adverse Conditions
Stephen Hausler, Sourav Garg, Punarjay Chakravarty +3
Can knowing where you are assist in perceiving objects in your surroundings, especially under adverse weather and lighting conditions? In this work we investigate whether a prior m…
Locking On: Leveraging Dynamic Vehicle-Imposed Motion Constraints to Improve Visual Localization
Stephen Hausler, Sourav Garg, Punarjay Chakravarty +3
Most 6-DoF localization and SLAM systems use static landmarks but ignore dynamic objects because they cannot be usefully incorporated into a typical pipeline. Where dynamic objects…
Deep Declarative Dynamic Time Warping for End-to-End Learning of Alignment Paths
Ming Xu, Sourav Garg, Michael Milford +1
This paper addresses learning end-to-end models for time series data that include a temporal alignment step via dynamic time warping (DTW). Existing approaches to differentiable DT…
Visual Place Recognition: A Tutorial
Stefan Schubert, Peer Neubert, Sourav Garg +2
Localization is an essential capability for mobile robots. A rapidly growing field of research in this area is Visual Place Recognition (VPR), which is the ability to recognize pre…
GDIP: Gated Differentiable Image Processing for Object-Detection in Adverse Conditions
Sanket Kalwar, Dhruv Patel, Aakash Aanegola +3
Detecting objects under adverse weather and lighting conditions is crucial for the safe and continuous operation of an autonomous vehicle, and remains an unsolved problem. We prese…
Improving Worst Case Visual Localization Coverage via Place-specific Sub-selection in Multi-camera Systems
Stephen Hausler, Ming Xu, Sourav Garg +4
6-DoF visual localization systems utilize principled approaches rooted in 3D geometry to perform accurate camera pose estimation of images to a map. Current techniques use hierarch…
When the Sun Goes Down: Repairing Photometric Losses for All-Day Depth Estimation
Madhu Vankadari, Stuart Golodetz, Sourav Garg +3
Self-supervised deep learning methods for joint depth and ego-motion estimation can yield accurate trajectories without needing ground-truth training data. However, as they typical…
Improving Road Segmentation in Challenging Domains Using Similar Place Priors
Connor Malone, Sourav Garg, Ming Xu +2
Road segmentation in challenging domains, such as night, snow or rain, is a difficult task. Most current approaches boost performance using fine-tuning, domain adaptation, style tr…
ReF -- Rotation Equivariant Features for Local Feature Matching
Abhishek Peri, Kinal Mehta, Avneesh Mishra +3
Sparse local feature matching is pivotal for many computer vision and robotics tasks. To improve their invariance to challenging appearance conditions and viewing angles, and hence…
MultiRes-NetVLAD: Augmenting Place Recognition Training with Low-Resolution Imagery
Ahmad Khaliq, Michael Milford, Sourav Garg
Visual Place Recognition (VPR) is a crucial component of 6-DoF localization, visual SLAM and structure-from-motion pipelines, tasked to generate an initial list of place match hypo…
A Hierarchical Dual Model of Environment- and Place-Specific Utility for Visual Place Recognition
Nikhil Varma Keetha, Michael Milford, Sourav Garg
Visual Place Recognition (VPR) approaches have typically attempted to match places by identifying visual cues, image regions or landmarks that have high ``utility'' in identifying…
SeqNetVLAD vs PointNetVLAD: Image Sequence vs 3D Point Clouds for Day-Night Place Recognition
Sourav Garg, Michael Milford
Place Recognition is a crucial capability for mobile robot localization and navigation. Image-based or Visual Place Recognition (VPR) is a challenging problem as scene appearance a…
Patch-NetVLAD: Multi-Scale Fusion of Locally-Global Descriptors for Place Recognition
Stephen Hausler, Sourav Garg, Ming Xu +2
Visual Place Recognition is a challenging task for robotics and autonomous systems, which must deal with the twin problems of appearance and viewpoint change in an always changing…
RoRD: Rotation-Robust Descriptors and Orthographic Views for Local Feature Matching
Udit Singh Parihar, Aniket Gujarathi, Kinal Mehta +4
The use of local detectors and descriptors in typical computer vision pipelines work well until variations in viewpoint and appearance change become extreme. Past research in this…
Where is your place, Visual Place Recognition?
Sourav Garg, Tobias Fischer, Michael Milford
Visual Place Recognition (VPR) is often characterized as being able to recognize the same place despite significant changes in appearance and viewpoint. VPR is a key component of S…
SeqNet: Learning Descriptors for Sequence-based Hierarchical Place Recognition
Sourav Garg, Michael Milford
Visual Place Recognition (VPR) is the task of matching current visual imagery from a camera to images stored in a reference map of the environment. While initial VPR systems used s…
Semantics for Robotic Mapping, Perception and Interaction: A Survey
Sourav Garg, Niko Sünderhauf, Feras Dayoub +9
For robots to navigate and interact more richly with the world around them, they will likely require a deeper understanding of the world in which they operate. In robotics and rela…
Unsupervised Monocular Depth Estimation for Night-time Images using Adversarial Domain Feature Adaptation
Madhu Vankadari, Sourav Garg, Anima Majumder +2
In this paper, we look into the problem of estimating per-pixel depth maps from unconstrained RGB monocular night-time images which is a difficult task that has not been addressed…
Early Bird: Loop Closures from Opposing Viewpoints for Perceptually-Aliased Indoor Environments
Satyajit Tourani, Dhagash Desai, Udit Singh Parihar +4
Significant advances have been made recently in Visual Place Recognition (VPR), feature correspondence, and localization due to the proliferation of deep-learning-based methods. Ho…
Delta Descriptors: Change-Based Place Representation for Robust Visual Localization
Sourav Garg, Ben Harwood, Gaurangi Anand +1
Visual place recognition is challenging because there are so many factors that can cause the appearance of a place to change, from day-night cycles to seasonal change to atmospheri…
VPR-Bench: An Open-Source Visual Place Recognition Evaluation Framework with Quantifiable Viewpoint and Appearance Change
Mubariz Zaffar, Sourav Garg, Michael Milford +4
Visual Place Recognition (VPR) is the process of recognising a previously visited place using visual information, often under varying appearance conditions and viewpoint changes an…