6 citations · 31 across the 25 of their papers we have counts for
8 papers · 1 filter
Locking On: Leveraging Dynamic Vehicle-Imposed Motion Constraints to Improve Visual Localization
Stephen Hausler, Sourav Garg, Punarjay Chakravarty +3
Most 6-DoF localization and SLAM systems use static landmarks but ignore dynamic objects because they cannot be usefully incorporated into a typical pipeline. Where dynamic objects…
Look Both Ways: Bidirectional Visual Sensing for Automatic Multi-Camera Registration
Subodh Mishra, Sushruth Nagesh, Sagar Manglani +3
This work describes the automatic registration of a large network (approximately 40) of fixed, ceiling-mounted environment cameras spread over a large area (approximately 800 squar…
Improving Worst Case Visual Localization Coverage via Place-specific Sub-selection in Multi-camera Systems
Stephen Hausler, Ming Xu, Sourav Garg +4
6-DoF visual localization systems utilize principled approaches rooted in 3D geometry to perform accurate camera pose estimation of images to a map. Current techniques use hierarch…
Propagating State Uncertainty Through Trajectory Forecasting
Boris Ivanovic, Yifeng Lin, Shubham Shrivastava +2
Uncertainty pervades through the modern robotic autonomy stack, with nearly every component (e.g., sensors, detection, classification, tracking, behavior prediction) producing cont…
Localization of a Smart Infrastructure Fisheye Camera in a Prior Map for Autonomous Vehicles
Subodh Mishra, Armin Parchami, Enrique Corona +4
This work presents a technique for localization of a smart infrastructure node, consisting of a fisheye camera, in a prior map. These cameras can detect objects that are outside th…
Infrastructure Node-based Vehicle Localization for Autonomous Driving
Elijah S. Lee, Ankit Vora, Armin Parchami +3
Vehicle localization is essential for autonomous vehicle (AV) navigation and Advanced Driver Assistance Systems (ADAS). Accurate vehicle localization is often achieved via expensiv…
An A* Curriculum Approach to Reinforcement Learning for RGBD Indoor Robot Navigation
Kaushik Balakrishnan, Punarjay Chakravarty, Shubham Shrivastava
Training robots to navigate diverse environments is a challenging problem as it involves the confluence of several different perception tasks such as mapping and localization, foll…
Trajectron++: Dynamically-Feasible Trajectory Forecasting With Heterogeneous Data
Tim Salzmann, Boris Ivanovic, Punarjay Chakravarty +1
Reasoning about human motion is an important prerequisite to safe and socially-aware robotic navigation. As a result, multi-agent behavior prediction has become a core component of…