63 citations · 147 across the 32 of their papers we have counts for
10 papers · 1 filter
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…
SemCal: Semantic LiDAR-Camera Calibration using Neural MutualInformation Estimator
Peng Jiang, Philip Osteen, Srikanth Saripalli
This paper proposes SemCal: an automatic, targetless, extrinsic calibration algorithm for a LiDAR and camera system using semantic information. We leverage a neural information est…
ROOAD: RELLIS Off-road Odometry Analysis Dataset
George Chustz, Srikanth Saripalli
The development and implementation of visual-inertial odometry (VIO) has focused on structured environments, but interest in localization in off-road environments is growing. In th…
Calibrating LiDAR and Camera using Semantic Mutual information
Peng Jiang, Philip Osteen, Srikanth Saripalli
We propose an algorithm for automatic, targetless, extrinsic calibration of a LiDAR and camera system using semantic information. We achieve this goal by maximizing mutual informat…
Vehicular Teamwork: Collaborative localization of Autonomous Vehicles
Jacob Hartzer, Srikanth Saripalli
This paper develops a distributed collaborative localization algorithm based on an extended kalman filter. This algorithm incorporates Ultra-Wideband (UWB) measurements for vehicle…