Publications

Sourav Garg, Krishan Rana, Mehdi Hosseinzadeh, Lachlan Mares, Niko Suenderhauf, Feras Dayoub, Ian Reid (2024). RoboHop: Segment-based Topological Map Representation for Open-World Visual Navigation. 2024 IEEE International Conference on Robotics and Automation (ICRA).

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Krishan Rana, Jesse Haviland, Sourav Garg, Jad Abou-Chakra, Ian Reid, Niko Suenderhauf (2023). Sayplan: Grounding large language models using 3d scene graphs for scalable robot task planning. Conference on Robot Learning.

Ming Xu, Sourav Garg, Michael Milford, Punarjay Chakravarty, Shubham Shrivastava (2023). Vehicle localization.

Madhu Vankadari, Stuart Golodetz, Sourav Garg, Sangyun Shin, Andrew Markham, Niki Trigoni (2023). When the sun goes down: Repairing photometric losses for all-day depth estimation. Conference on Robot Learning.

Stefan Schubert, Peer Neubert, Sourav Garg, Michael Milford, Tobias Fischer (2023). Visual Place Recognition: A Tutorial. IEEE Robotics & Automation Magazine (RAM).

Stephen Hausler, Sourav Garg, Punarjay Chakravarty, Shubham Shrivastava, Ankit Vora, Michael Milford (2023). Locking On: Leveraging Dynamic Vehicle-Imposed Motion Constraints to Improve Visual Localization. 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

Ayush Sharma, Yash Mehan, Pradyumna Dasu, Sourav Garg, Madhava Krishna (2023). Hierarchical Unsupervised Topological SLAM. 26th IEEE International Conference on Intelligent Transportation Systems (ITSC 2023).

Sanket Kalwar, Dhruv Patel, Aakash Aanegola, Krishna Reddy Konda, Sourav Garg, K Madhava Krishna (2023). GDIP: gated differentiable image processing for object detection in adverse conditions. 2023 IEEE International Conference on Robotics and Automation (ICRA).

Stephen Hausler, Sourav Garg, Punarjay Chakravarty, Shubham Shrivastava, Ankit Vora, Michael Milford (2023). DisPlacing Objects: Improving Dynamic Vehicle Detection via Visual Place Recognition under Adverse Conditions. 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

Sanket Kalwar, Mihir Ungarala, Shruti Jain, Aaron Monis, Krishna Reddy Konda, Sourav Garg, K Madhava Krishna (2023). DiffPrompter: Differentiable Implicit Visual Prompts for Semantic-Segmentation in Adverse Conditions. arXiv preprint arXiv:2310.04181.

Ming Xu, Sourav Garg, Michael Milford, Stephen Gould (2023). Deep Declarative Dynamic Time Warping for End-to-End Learning of Alignment Paths. 2023 International Conference on Learning Representations (ICLR).

Nikhil Keetha, Avneesh Mishra, Jay Karhade, Krishna Murthy Jatavallabhula, Sebastian Scherer, Madhava Krishna, Sourav Garg (2023). Anyloc: Towards universal visual place recognition. IEEE Robotics and Automation Letters.

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Abhishek Peri, Kinal Mehta, Avneesh Mishra, Michael Milford, Sourav Garg, K Madhava Krishna (2022). ReF--Rotation Equivariant Features for Local Feature Matching. arXiv preprint arXiv:2203.05206.

Ahmad Khaliq, Michael Milford, Sourav Garg (2022). MultiRes-netVLAD: Augmenting place recognition training with low-resolution imagery. IEEE Robotics and Automation Letters.

Stephen Hausler, Ming Xu, Sourav Garg, Punarjay Chakravarty, Shubham Shrivastava, Ankit Vora, Michael Milford (2022). Improving worst case visual localization coverage via place-specific sub-selection in multi-camera systems. IEEE Robotics and Automation Letters.

Connor Malone, Sourav Garg, Ming Xu, Thierry Peynot, Michael Milford (2022). Improving Road Segmentation in Challenging Domains Using Similar Place Priors. IEEE Robotics and Automation Letters.

Sourav Garg, Madhu Vankadari, Michael Milford (2021). SeqMatchNet: Contrastive learning with sequence matching for place recognition & relocalization. Conference on Robot Learning.

Attila Lengyel, Sourav Garg, Michael Milford, Jan C van Gemert (2021). Zero-Shot Domain Adaptation with a Physics Prior. IEEE International Conference on Computer Vision (ICCV) 2021.

Sourav Garg, Tobias Fischer, Michael Milford (2021). Where is your place, Visual Place Recognition?. International Joint Conference on Artificial Intelligence (IJCAI) 2021.

Mubariz Zaffar, Sourav Garg, Shoaib Ehsan, Michael Milford, Julian Kooij, David Flynn, Klaus McDonald-Maier (2021). VPR-Bench: An Open-Source Visual Place Recognition Evaluation Framework with Quantifiable Viewpoint and Appearance Change. International Journal of Computer Vision (IJCV), 2021.

Sourav Garg, Michael Milford (2021). SeqNetVLAD vs PointNetVLAD: Image Sequence vs 3D Point Clouds for Day-Night Place Recognition. IEEE/CVF Computer Vision and Pattern Recognition (CVPR) 2021 Conference Workshop on 3D Vision and Robotics (3DVR) https://sites.google.com/view/cvpr2021-3d-vision-robotics/.

Sourav Garg, Michael Milford (2021). SeqNet: Learning Descriptors for Sequence-based Hierarchical Place Recognition. IEEE Robotics and Automation Letters (RA-L) 2021.

Udit Singh Parihar, Aniket Gujarathi, Kinal Mehta, Satyajit Tourani, Sourav Garg, Michael Milford, K Madhava Krishna (2021). RoRD: Rotation-Robust Descriptors and Orthographic Views for Local Feature Matching. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2021.

Stephen Hausler, Sourav Garg, Ming Xu, Michael Milford, Tobias Fischer (2021). Patch-NetVLAD: Multi-Scale Fusion of Locally-Global Descriptors for Place Recognition. IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR).

Connor Malone, Sourav Garg, Thierry Peynot, Michael Milford (2021). Improving Semantic Segmentation with Calibrated Whole Image and Patch-Based Similar Place Priors. Proceedings of the Australasian Conference on Robotics and Automation (ACRA) 2021.

Nikhil Varma Keetha, Michael Milford, Sourav Garg (2021). A Hierarchical Dual Model of Environment-and Place-Specific Utility for Visual Place Recognition. IEEE Robotcs and Automation Letters (RA-L) 2021.

Madhu Vankadari, Sourav Garg, Anima Majumder, Swagat Kumar, Ardhendu Behera (2020). Unsupervised Monocular Depth Estimation for Night-time Images using Adversarial Domain Feature Adaptation. 16TH European Conference on Computer Vision (ECCV), 2020.

Sourav Garg, Niko Suenderhauf, Feras Dayoub, Doug Morrison, Akansel Cosgun, Gustavo Carneiro, Qi Wu, Tat-Jun Chin, Ian Reid, Stephen Gould, others (2020). Semantics for Robotic Mapping, Perception and Interaction: A Survey. Foundations and Trends® in Robotics.

M Milford, S Garg, J Mount (2020). P1-007: How automated vehicles will interact with road infrastructure now and in the future.

Sourav Garg, Michael Milford (2020). Fast, Compact and Highly Scalable Visual Place Recognition through Sequence-based Matching of Overloaded Representations. IEEE International Conference on Robotics and Automation (ICRA), 2020.

Satyajit Tourani, Dhagash Desai, Udit Singh Parihar, Sourav Garg, Ravi Kiran Sarvadevabhatla, Michael Milford, K Madhava Krishna (2020). Early Bird: Loop Closures from Opposing Viewpoints for Perceptually-Aliased Indoor Environments. International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISAPP).

Sourav Garg, Ben Harwood, Gaurangi Anand, Michael Milford (2020). Delta Descriptors: Change-Based Place Representation for Robust Visual Localization. IEEE Robotics and Automation Letters (RA-L), 2020.

Swagat Kumar, Nishant Kejriwal, GARG Sourav (2019). Computer implemented system and method for recognizing and counting products within images.

Sourav Garg, Niko Suenderhauf, Michael Milford (2019). Semantic--geometric visual place recognition: a new perspective for reconciling opposing views. The International Journal of Robotics Research (IJRR).

Sourav Garg (2019). Robust visual place recognition under simultaneous variations in viewpoint and appearance.

Sourav Garg, V Babu, Thanuja Dharmasiri, Stephen Hausler, Niko Suenderhauf, Swagat Kumar, Tom Drummond, Michael Milford (2019). Look No Deeper: Recognizing Places from Opposing Viewpoints under Varying Scene Appearance using Single-View Depth Estimation. IEEE International Conference on Robotics and Automation (ICRA), 2019.

Ben Talbot, Sourav Garg, Michael Milford (2018). OpenSeqSLAM2. 0: An Open Source Toolbox for Visual Place Recognition Under Changing Conditions. Intelligent Robots and Systems (IROS), 2018 IEEE/RSJ International Conference on.

Sourav Garg, Niko Suenderhauf, Michael Milford (2018). LoST? Appearance-Invariant Place Recognition for Opposite Viewpoints using Visual Semantics. Robotics: Science and Systems (RSS), Pittsburgh, PA, USA, June 26-30, 2018.

Sourav Garg, Niko Suenderhauf, Michael Milford (2018). Don't Look Back: Robustifying Place Categorization for Viewpoint-and Condition-Invariant Place Recognition. IEEE International Conference on Robotics and Automation (ICRA), 2018.

Sourav Garg, Milford Michael (2017). Straightening Sequence-Search for Appearance-Invariant Place Recognition using Robust Motion Estimation. Australasian Conference on Robotics and Automation 2017.

Sourav Garg, Adam Jacobson, Swagat Kumar, Michael Milford (2017). Improving condition-and environment-invariant place recognition with semantic place categorization. 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

John Skinner, Sourav Garg, Niko Sünderhauf, Peter Corke, Ben Upcroft, Michael Milford (2016). High-fidelity simulation for evaluating robotic vision performance. 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

Nishant Kejriwal, Sourav Garg, Swagat Kumar (2015). Product counting using images with application to robot-based retail stock assessment. 2015 IEEE international conference on technologies for practical robot applications (TePRA).

Sourav Garg, Swagat Kumar, Rajesh Ratnakaram, Prithwijit Guha (2015). An Occlusion Reasoning Scheme for Monocular Pedestrian Tracking in Dynamic Scenes. Advanced Video and Signal Based Surveillance (AVSS), 2015 12th IEEE International Conference.

Sourav Garg, Ehtesham Hassan, Swagat Kumar, Prithwijit Guha (2015). A hierarchical frame-by-frame association method based on graph matching for multi-object tracking. International Symposium on Visual Computing.

Swagat Kumar, Sourav Garg, Nishant Kejriwal (2014). A tea-serving robot for office environment. ISR/Robotik 2014; 41st International Symposium on Robotics.

Meenakshi Gupta, Swagat Kumar, Sourav Garg, Nishant Kejriwal, Laxmidhar Behera (2014). A novel SURF-based algorithm for tracking a ‘Human’in a dynamic environment. 2014 13th International Conference on Control Automation Robotics & Vision (ICARCV).

Sourav Garg, Swagat Kumar (2013). Mean-shift based object tracking algorithm using SURF features. Recent Advances in Circuits, Communications and Signal Processing.

Meenakshi Gupta, Sourav Garg, Swagat Kumar, Laxmidhar Behera (2013). An on-line visual human tracking algorithm using SURF-based dynamic object model. Image Processing (ICIP), 2013 20th IEEE International Conference on.