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Zero-Shot Domain Adaptation with a Physics Prior


Aug 11, 2021
Attila Lengyel, Sourav Garg, Michael Milford, Jan C. van Gemert

* ICCV 2021 Oral presentation. Code, datasets and supplementary material: https://github.com/Attila94/CIConv 

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A Hierarchical Dual Model of Environment- and Place-Specific Utility for Visual Place Recognition


Jul 06, 2021
Nikhil Varma Keetha, Michael Milford, Sourav Garg

* Accepted to IEEE Robotics and Automation Letters (RA-L) and IROS 2021 

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SeqNetVLAD vs PointNetVLAD: Image Sequence vs 3D Point Clouds for Day-Night Place Recognition


Jun 22, 2021
Sourav Garg, Michael Milford

* Accepted to CVPR 2021 Workshop on 3D Vision and Robotics (3DVR). https://sites.google.com/view/cvpr2021-3d-vision-robotics/ 

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RoRD: Rotation-Robust Descriptors and Orthographic Views for Local Feature Matching


Mar 15, 2021
Udit Singh Parihar, Aniket Gujarathi, Kinal Mehta, Satyajit Tourani, Sourav Garg, Michael Milford, K. Madhava Krishna

* Under Review at IROS. Project Page: https://uditsinghparihar.github.io/RoRD/ 

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Where is your place, Visual Place Recognition?


Mar 11, 2021
Sourav Garg, Tobias Fischer, Michael Milford

* Under Review 

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Patch-NetVLAD: Multi-Scale Fusion of Locally-Global Descriptors for Place Recognition


Mar 02, 2021
Stephen Hausler, Sourav Garg, Ming Xu, Michael Milford, Tobias Fischer

* Accepted to IEEE Conference on Computer Vision and Pattern Recognition (CVPR 2021) 

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SeqNet: Learning Descriptors for Sequence-based Hierarchical Place Recognition


Feb 24, 2021
Sourav Garg, Michael Milford

* Accepted for publication in IEEE RA-L 2021; includes supplementary 

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Semantics for Robotic Mapping, Perception and Interaction: A Survey


Jan 02, 2021
Sourav Garg, Niko Sünderhauf, Feras Dayoub, Douglas Morrison, Akansel Cosgun, Gustavo Carneiro, Qi Wu, Tat-Jun Chin, Ian Reid, Stephen Gould, Peter Corke, Michael Milford

* Foundations and Trends in Robotics: Vol. 8: No. 1-2, pp 1-224 (2020) 
* 81 pages, 1 figure, published in Foundations and Trends in Robotics, 2020 

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Early Bird: Loop Closures from Opposing Viewpoints for Perceptually-Aliased Indoor Environments


Oct 03, 2020
Satyajit Tourani, Dhagash Desai, Udit Singh Parihar, Sourav Garg, Ravi Kiran Sarvadevabhatla, K. Madhava Krishna

* Under review 

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Unsupervised Monocular Depth Estimation for Night-time Images using Adversarial Domain Feature Adaptation


Oct 03, 2020
Madhu Vankadari, Sourav Garg, Anima Majumder, Swagat Kumar, Ardhendu Behera

* ECCV 2020 

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Delta Descriptors: Change-Based Place Representation for Robust Visual Localization


Jun 10, 2020
Sourav Garg, Ben Harwood, Gaurangi Anand, Michael Milford

* 8 pages and 7 figures. To be published in 2020 IEEE Robotics and Automation Letters (RA-L) 

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Fast, Compact and Highly Scalable Visual Place Recognition through Sequence-based Matching of Overloaded Representations


Jan 23, 2020
Sourav Garg, Michael Milford

* 7 pages, 3 figures, Accepted for oral presentation at the 2020 IEEE International Conference on Robotics and Automation 

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Look No Deeper: Recognizing Places from Opposing Viewpoints under Varying Scene Appearance using Single-View Depth Estimation


Feb 20, 2019
Sourav Garg, Madhu Babu V, Thanuja Dharmasiri, Stephen Hausler, Niko Suenderhauf, Swagat Kumar, Tom Drummond, Michael Milford

* Accepted for ICRA 2019 

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LoST? Appearance-Invariant Place Recognition for Opposite Viewpoints using Visual Semantics


May 26, 2018
Sourav Garg, Niko Suenderhauf, Michael Milford

* Accepted for Robotics: Science and Systems (RSS) 2018. Source code now available at https://github.com/oravus/lostX 

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OpenSeqSLAM2.0: An Open Source Toolbox for Visual Place Recognition Under Changing Conditions


Apr 11, 2018
Ben Talbot, Sourav Garg, Michael Milford

* 8 pages, Submitted to IROS 2018 (2018 IEEE/RSJ International Conference on Intelligent Robots and Systems), see http://www.michaelmilford.com/seqslam for access to the software 

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Don't Look Back: Robustifying Place Categorization for Viewpoint- and Condition-Invariant Place Recognition


Jan 16, 2018
Sourav Garg, Niko Suenderhauf, Michael Milford

* 9 pages, 11 figures, ICRA 2018 

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Improving Condition- and Environment-Invariant Place Recognition with Semantic Place Categorization


Jun 22, 2017
Sourav Garg, Adam Jacobson, Swagat Kumar, Michael Milford

* 9 pages, 7 figures, to be published in IROS 2017 

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An Occlusion Reasoning Scheme for Monocular Pedestrian Tracking in Dynamic Scenes


Jan 25, 2015
Sourav Garg, Swagat Kumar, Rajesh Ratnakaram, Prithwijit Guha

* 8 pages 

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