147 citations · 603 across the 30 of their papers we have counts for
6 papers · 1 filter
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…