Sanjay E. Sarma — accepted AI-conference papers

2025

Ges3ViG : Incorporating Pointing Gestures into Language-Based 3D Visual Grounding for Embodied Reference Understanding

Atharv Mahesh Mane, Dulanga Weerakoon, Vigneshwaran Subbaraju, Sougata Sen, Sanjay E. Sarma, Archan Misra

CVPR 2025poster

3-Dimensional Embodied Reference Understanding (3DERU) combines a language description and an accompanying pointing gesture to identify the most relevant target object in a 3D scene. Although prior work has explored pure language-based 3D grounding, there has been limited exploration of 3D-ERU, whic…

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2020

Frontier Detection and Reachability Analysis for Efficient 2D Graph-SLAM Based Active Exploration

Zezhou Sun, Banghe Wu, Cheng-Zhong Xu, Sanjay E. Sarma, Jian Yang, Hui Kong

IROS 2020poster

We propose an integrated approach to active exploration by exploiting the Cartographer method as the base SLAM module for submap creation and performing efficient frontier detection in the geometrically co-aligned submaps induced by graph optimization. We also carry out analysis on the reachability…

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2020

LiDAR Iris for Loop-Closure Detection

Ying Wang, Zezhou Sun, Cheng-Zhong Xu, Sanjay E. Sarma, Jian Yang, Hui Kong

IROS 2020poster

In this paper, a global descriptor for a LiDAR point cloud, called LiDAR Iris, is proposed for fast and accurate loop-closure detection. A binary signature image can be obtained for each point cloud after several LoG-Gabor filtering and thresholding operations on the LiDAR-Iris image representation.…

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