Search Results for author: Krishna Murthy Jatavallabhula

Found 15 papers, 8 papers with code

Follow Anything: Open-set detection, tracking, and following in real-time

1 code implementation10 Aug 2023 Alaa Maalouf, Ninad Jadhav, Krishna Murthy Jatavallabhula, Makram Chahine, Daniel M. Vogt, Robert J. Wood, Antonio Torralba, Daniela Rus

We demonstrate FAn on a real-world robotic system (a micro aerial vehicle) and report its ability to seamlessly follow the objects of interest in a real-time control loop.

AnyLoc: Towards Universal Visual Place Recognition

1 code implementation1 Aug 2023 Nikhil Keetha, Avneesh Mishra, Jay Karhade, Krishna Murthy Jatavallabhula, Sebastian Scherer, Madhava Krishna, Sourav Garg

In this work, we develop a universal solution to VPR -- a technique that works across a broad range of structured and unstructured environments (urban, outdoors, indoors, aerial, underwater, and subterranean environments) without any re-training or fine-tuning.

Image Retrieval Visual Place Recognition

Learning Correspondence Uncertainty via Differentiable Nonlinear Least Squares

no code implementations CVPR 2023 Dominik Muhle, Lukas Koestler, Krishna Murthy Jatavallabhula, Daniel Cremers

We propose a differentiable nonlinear least squares framework to account for uncertainty in relative pose estimation from feature correspondences.

Pose Estimation

PAC-NeRF: Physics Augmented Continuum Neural Radiance Fields for Geometry-Agnostic System Identification

no code implementations9 Mar 2023 Xuan Li, Yi-Ling Qiao, Peter Yichen Chen, Krishna Murthy Jatavallabhula, Ming Lin, Chenfanfu Jiang, Chuang Gan

In this work, we aim to identify parameters characterizing a physical system from a set of multi-view videos without any assumption on object geometry or topology.

Neural Rendering

ConceptFusion: Open-set Multimodal 3D Mapping

no code implementations14 Feb 2023 Krishna Murthy Jatavallabhula, Alihusein Kuwajerwala, Qiao Gu, Mohd Omama, Tao Chen, Shuang Li, Ganesh Iyer, Soroush Saryazdi, Nikhil Keetha, Ayush Tewari, Joshua B. Tenenbaum, Celso Miguel de Melo, Madhava Krishna, Liam Paull, Florian Shkurti, Antonio Torralba

ConceptFusion leverages the open-set capabilities of today's foundation models pre-trained on internet-scale data to reason about concepts across modalities such as natural language, images, and audio.

Autonomous Driving Robot Navigation

Rethinking Optimization with Differentiable Simulation from a Global Perspective

no code implementations28 Jun 2022 Rika Antonova, Jingyun Yang, Krishna Murthy Jatavallabhula, Jeannette Bohg

In this work, we study the challenges that differentiable simulation presents when it is not feasible to expect that a single descent reaches a global optimum, which is often a problem in contact-rich scenarios.

Bayesian Optimization

AutoLay: Benchmarking amodal layout estimation for autonomous driving

no code implementations20 Aug 2021 Kaustubh Mani, N. Sai Shankar, Krishna Murthy Jatavallabhula, K. Madhava Krishna

Given an image or a video captured from a monocular camera, amodal layout estimation is the task of predicting semantics and occupancy in bird's eye view.

Amodal Layout Estimation Autonomous Driving +1

MonoLayout: Amodal scene layout from a single image

3 code implementations19 Feb 2020 Kaustubh Mani, Swapnil Daga, Shubhika Garg, N. Sai Shankar, Krishna Murthy Jatavallabhula, K. Madhava Krishna

We dub this problem amodal scene layout estimation, which involves "hallucinating" scene layout for even parts of the world that are occluded in the image.

Amodal Layout Estimation Sensor Fusion

gradSLAM: Automagically differentiable SLAM

1 code implementation23 Oct 2019 Krishna Murthy Jatavallabhula, Soroush Saryazdi, Ganesh Iyer, Liam Paull

Blending representation learning approaches with simultaneous localization and mapping (SLAM) systems is an open question, because of their highly modular and complex nature.

Open-Ended Question Answering Representation Learning +1

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