Computer vision publications
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Concepts for autonomous navigation of underground mine face haulage equipment using depth cameras
Abstract This paper describes the development of a software pipeline for autonomous navigation of underground mine haulage equipment. The approach uses depth-sensing cameras mounted on the haulage vehicle to capture…
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Medical Procedure Tracking using Abductive Planning – A PARADIGM Shift
Abstract This paper presents PARACHUTE, a Prolog-based frame-work for abductive trace completion and projection for real-time medical procedure tracking and guidance, developed as part of the AI-powered AMIRA system in…
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GeoSURGE: Geo-localization using semantic fusion with hierarchy of geographic embeddings
Abstract Worldwide visual geo-localization aims to determine the geographic location of an image anywhere on Earth using only its visual content. Despite recent progress, learning expressive representations of geographic space…
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DUDA: Distilled unsupervised domain adaptation for lightweight semantic segmentation
Abstract Unsupervised Domain Adaptation (UDA) is essential for enabling semantic segmentation in new domains without requiring costly pixel-wise annotations. State-of-the-art (SOTA) UDA methods primarily use self-training with architecturally identical teacher…
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Graph2Nav: 3D Object-Relation Graph Generation to Robot Navigation
We propose Graph2Nav, a real-time 3D object-relation graph generation framework, for autonomous navigation in the real world.
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SayNav: Grounding Large Language Models for Dynamic Planning to Navigation in New Environments
We present SayNav, a new approach that leverages human knowledge from Large Language Models (LLMs) for efficient generalization to complex navigation tasks in unknown large-scale environments.
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Machine Learning Aided GPS-Denied Navigation Using Uncertainty Estimation through Deep Neural Networks
We describe and demonstrate a novel approach for generating accurate and interpretable uncertainty estimation for outputs from a DNN in real time.
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Unsupervised Domain Adaptation for Semantic Segmentation with Pseudo Label Self-Refinement
We propose an auxiliary pseudo-label refinement network (PRN) for online refining of the pseudo labels and also localizing the pixels whose predicted labels are likely to be noisy.
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C-SFDA: A Curriculum Learning Aided Self-Training Framework for Efficient Source Free Domain Adaptation
We propose C-SFDA, a curriculum learning aided self-training framework for SFDA that adapts efficiently and reliably to changes across domains based on selective pseudo-labeling. Specifically, we employ a curriculum learning…
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Night-Time GPS-Denied Navigation and Situational Understanding Using Vision-Enhanced Low-Light Imager
In this presentation, we describe and demonstrate a novel vision-enhanced low-light imager system to provide GPS-denied navigation and ML-based visual scene understanding capabilities for both day and night operations.
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Vision based Navigation using Cross-View Geo-registration for Outdoor Augmented Reality and Navigation Applications
In this work, we present a new vision-based cross-view geo-localization solution matching camera images to a 2D satellite/ overhead reference image database. We present solutions for both coarse search for…
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Cross-View Visual Geo-Localization for Outdoor Augmented Reality
We address the problem of geo-pose estimation by cross-view matching of query ground images to a geo-referenced aerial satellite image database. Recently, neural network-based methods have shown state-of-the-art performance in…