Overview

I am particularly interested in developing SLAM-aware robots that can learn persistently in an environment from visual experience. My research attempts to understand the capabilities at the intersection of object and scene understanding and Simultaneous Localization and Mapping (SLAM).

I am currently a member of Robotics, Vision & Sensor Networks Group, and Marine Robotics Group.

Recent News

Publications

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Self-Supervised Place Recognition in Mobile Robots
S. Pillai and J. Leonard
Learning for Localization and Mapping Workshop, IROS, 2017
[ Coming Soon ]

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Towards Visual Ego-motion Learning in Robots
S. Pillai and J. Leonard
International Conference on Intelligent Robots and Systems (IROS), 2017
[ pdf ]

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SLAMinDB: Centralized graph databases for mobile robotics
D. Fourie, S. Claassens, S. Pillai, R. Mata, J. Leonard
International Conference on Robotics and Automation (ICRA), 2017
[ pdf ]

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High-Performance and Tunable Stereo Reconstruction
S. Pillai, S. Ramalingam and J. Leonard
International Conference on Robotics and Automation (ICRA), 2016
[ pdf, video, bib ]

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Monocular SLAM Supported Object Recognition
S. Pillai and J. Leonard
Robotics: Science and Systems (RSS), 2015
[ pdf, bib, video, slides, poster ]

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Line-Sweep: Cross-Ratio for Wide-Baseline Matching and 3D Reconstruction
S. Ramalingam, M. Antunes, D. Snow, G. H. Lee, S. Pillai
Computer Vision and Pattern Recognition (CVPR), 2015
[ pdf, bib, video ]

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Towards Enabling a Robot to Effectively
Assist People in Human-Occupied Envioronments

S. Hemachandra, R. Finman, S. Pillai, M. Walter, S. Teller
AAAI Spring Symposium: Designing Intelligent Robots, March 2012
[ pdf, bib ]

Advising

  • Experimental Implementations of Stereo Matching Algorithms in Halide: I helped advice [Min Zhang] at CSAIL, MIT on stereo algorithms and their implementation using Halide, a Domain-Specific Language for Image Processing. See MEng. Thesis, Code for more implementation details.

Thesis

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Towards Richer, and Self-Supervised Perception in Robots
S. Pillai
Ph.D Thesis Proposal, Apr 2017
[ pdf ]

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Learning Articulated Motions From Visual Demonstration
S. Pillai
S.M. Thesis, June 2014
[ pdf, slides (Masterworks ‘14) ]