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cs.RO2024
Path Planning in Complex Environments with Superquadrics and Voronoi-Based Orientation
Lin Yang, Ganesh Iyer, Baichuan Lou +3
Path planning in narrow passages is a challenging problem in various applications. Traditional planning algorithms often face challenges in complex environments like mazes and trap…
cs.RO2019
gradSLAM: Automagically differentiable SLAM
Krishna Murthy Jatavallabhula, Soroush Saryazdi, Ganesh Iyer +1
Blending representation learning approaches with simultaneous localization and mapping (SLAM) systems is an open question, because of their highly modular and complex nature. Funct…
cs.RO2018
Geometric Consistency for Self-Supervised End-to-End Visual Odometry
Ganesh Iyer, J. Krishna Murthy, Gunshi Gupta +2
With the success of deep learning based approaches in tackling challenging problems in computer vision, a wide range of deep architectures have recently been proposed for the task…