6 citations · 12 across the 7 of their papers we have counts for
13 papers · 1 filter
CAMEL: Learning Cost-maps Made Easy for Off-road Driving
Kasi Vishwanath, P. B. Sujit, Srikanth Saripalli
Cost-maps are used by robotic vehicles to plan collision-free paths. The cost associated with each cell in the map represents the sensed environment information which is often dete…
Extrinsic Calibration of LiDAR, IMU and Camera
Subodh Mishra, Srikanth Saripalli
In this work we present a novel method to jointly calibrate a sensor suite consisting a 3D-LiDAR, Inertial Measurement Unit (IMU) and Camera under an Extended Kalman Filter (EKF) f…
OTTR: Off-Road Trajectory Tracking using Reinforcement Learning
Akhil Nagariya, Dileep Kalathil, Srikanth Saripalli
In this work, we present a novel Reinforcement Learning (RL) algorithm for the off-road trajectory tracking problem. Off-road environments involve varying terrain types and elevati…
G-VOM: A GPU Accelerated Voxel Off-Road Mapping System
Timothy Overbye, Srikanth Saripalli
We present a local 3D voxel mapping framework for off-road path planning and navigation. Our method provides both hard and soft positive obstacle detection, negative obstacle detec…
Target-free Extrinsic Calibration of a 3D-Lidar and an IMU
Subodh Mishra, Gaurav Pandey, Srikanth Saripalli
This work presents a novel target-free extrinsic calibration algorithm for a 3D Lidar and an IMU pair using an Extended Kalman Filter (EKF) which exploits the \textit{motion based…
Path Optimization for Ground Vehicles in Off-Road Terrain
Timothy Overbye, Srikanth Saripalli
We present a method for path optimization for ground vehicles in off-road environments at high speeds. This path optimization considers the kinematic constraints of the vehicle. By…