4 papers
Learning Traversability-Aware Global Planners for Long Horizon Off-Road Navigation
Kasi Viswanath, Jason M. Gregory, Shaunak Kolhe +1
Autonomous navigation across large off-road environments remains a challenging problem. Onboard sensors perceive only the immediate surroundings, yet safe and efficient routes depe…
GO: The Great Outdoors Multimodal Dataset
Peng Jiang, Kasi Viswanath, Akhil Nagariya +8
The Great Outdoors (GO) dataset is a multi-modal annotated data resource aimed at advancing ground robotics research in unstructured environments. Existing off-road datasets often…
Trailblazer: Learning offroad costmaps for long range planning
Kasi Viswanath, Felix Sanchez, Timothy Overbye +2
Autonomous navigation in off-road environments remains a significant challenge in field robotics, particularly for Unmanned Ground Vehicles (UGVs) tasked with search and rescue, ex…
Reflectivity Is All You Need!: Advancing LiDAR Semantic Segmentation
Kasi Viswanath, Peng Jiang, Srikanth Saripalli
LiDAR semantic segmentation frameworks predominantly use geometry-based features to differentiate objects within a scan. Although these methods excel in scenarios with clear bounda…