Ganesh Iyer — accepted AI-conference papers

2023

ConceptFusion: Open-set multimodal 3D mapping

Krishna Murthy Jatavallabhula, Alihusein Kuwajerwala, Qiao Gu, Mohd Omama, Ganesh Iyer, Soroush Saryazdi +11

RSS 2023poster

Building 3D maps of the environment is central to robot navigation, planning, and interaction with objects in a scene. Most existing approaches that integrate semantic concepts with 3D maps largely remain confined to the closed-set setting: they can only reason about a finite set of concepts, pre-de…

Cited by 249 Source ↗PDF ↗code ↗Scholar ↗

2020

∇SLAM: Dense SLAM meets Automatic Differentiation

Krishna Murthy Jatavallabhula, Ganesh Iyer, Liam Paull

ICRA 2020poster

The question of "representation" is central in the context of dense simultaneous localization and mapping (SLAM). Learning-based approaches have the potential to leverage data or task performance to directly inform the representation. However, blending representation learning approaches with "classi…

Cited by 71 Source ↗Scholar ↗

2018

CalibNet: Geometrically Supervised Extrinsic Calibration using 3D Spatial Transformer Networks

Ganesh Iyer, R. Karnik Ram, J. Krishna Murthy, K. Madhava Krishna

IROS 2018poster

3D LiDARs and 2D cameras are increasingly being used alongside each other in sensor rigs for perception tasks. Before these sensors can be used to gather meaningful data, however, their extrinsics (and intrinsics) need to be accurately calibrated, as the performance of the sensor rig is extremely se…

Cited by 231 Source ↗code ↗Scholar ↗