9 citations · 15 across the 24 of their papers we have counts for
10 papers · 1 filter
LiHi-GS: LiDAR-Supervised Gaussian Splatting for Highway Driving Scene Reconstruction
Pou-Chun Kung, Xianling Zhang, Katherine A. Skinner +1
Photorealistic 3D scene reconstruction plays an important role in autonomous driving, enabling the generation of novel data from existing datasets to simulate safety-critical scena…
VAIR: Visuo-Acoustic Implicit Representations for Low-Cost, Multi-Modal Transparent Surface Reconstruction in Indoor Scenes
Advaith V. Sethuraman, Onur Bagoren, Harikrishnan Seetharaman +3
Mobile robots operating indoors must be prepared to navigate challenging scenes that contain transparent surfaces. This paper proposes a novel method for the fusion of acoustic and…
MemFusionMap: Working Memory Fusion for Online Vectorized HD Map Construction
Jingyu Song, Xudong Chen, Liupei Lu +2
High-definition (HD) maps provide environmental information for autonomous driving systems and are essential for safe planning. While existing methods with single-frame input achie…
TURTLMap: Real-time Localization and Dense Mapping of Low-texture Underwater Environments with a Low-cost Unmanned Underwater Vehicle
Jingyu Song, Onur Bagoren, Razan Andigani +2
Significant work has been done on advancing localization and mapping in underwater environments. Still, state-of-the-art methods are challenged by low-texture environments, which i…
Learning Surface Terrain Classifications from Ground Penetrating Radar
Anja Sheppard, Jason Brown, Nilton Renno +1
Terrain classification is an important problem for mobile robots operating in extreme environments as it can aid downstream tasks such as autonomous navigation and planning. While…
CRKD: Enhanced Camera-Radar Object Detection with Cross-modality Knowledge Distillation
Lingjun Zhao, Jingyu Song, Katherine A. Skinner
In the field of 3D object detection for autonomous driving, LiDAR-Camera (LC) fusion is the top-performing sensor configuration. Still, LiDAR is relatively high cost, which hinders…
A Detection and Filtering Framework for Collaborative Localization
Thirumalaesh Ashokkumar, Katherine A Skinner, Siddarth Agarwal +2
Increasingly, autonomous vehicles (AVs) are becoming a reality, such as the Advanced Driver Assistance Systems (ADAS) in vehicles that assist drivers in driving and parking functio…
LiRaFusion: Deep Adaptive LiDAR-Radar Fusion for 3D Object Detection
Jingyu Song, Lingjun Zhao, Katherine A. Skinner
We propose LiRaFusion to tackle LiDAR-radar fusion for 3D object detection to fill the performance gap of existing LiDAR-radar detectors. To improve the feature extraction capabili…
Learning Which Side to Scan: Multi-View Informed Active Perception with Side Scan Sonar for Autonomous Underwater Vehicles
Advaith V. Sethuraman, Philip Baldoni, Katherine A. Skinner +1
Autonomous underwater vehicles often perform surveys that capture multiple views of targets in order to provide more information for human operators or automatic target recognition…
Machine Learning for Shipwreck Segmentation from Side Scan Sonar Imagery: Dataset and Benchmark
Advaith V. Sethuraman, Anja Sheppard, Onur Bagoren +4
Open-source benchmark datasets have been a critical component for advancing machine learning for robot perception in terrestrial applications. Benchmark datasets enable the widespr…