272 citations · 426 across the 17 of their papers we have counts for
23 papers
Stereo Visual Odometry with Deep Learning-Based Point and Line Feature Matching using an Attention Graph Neural Network
Shenbagaraj Kannapiran, Nalin Bendapudi, Ming-Yuan Yu +4
Robust feature matching forms the backbone for most Visual Simultaneous Localization and Mapping (vSLAM), visual odometry, 3D reconstruction, and Structure from Motion (SfM) algori…
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…
Real-time Full-stack Traffic Scene Perception for Autonomous Driving with Roadside Cameras
Zhengxia Zou, Rusheng Zhang, Shengyin Shen +4
We propose a novel and pragmatic framework for traffic scene perception with roadside cameras. The proposed framework covers a full-stack of roadside perception pipeline for infras…
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…
Target-free Extrinsic Calibration of a 3D-Lidar and an IMU
Subodh Mishra, Gaurav Pandey, Srikanth Saripalli
This work presents a novel target-free extrinsic calibration algorithm for a 3D Lidar and an IMU pair using an Extended Kalman Filter (EKF) which exploits the \textit{motion based…
Real Time Incremental Foveal Texture Mapping for Autonomous Vehicles
Ashish Kumar, James R. McBride, Gaurav Pandey
We propose an end-to-end real time framework to generate high resolution graphics grade textured 3D map of urban environment. The generated detailed map finds its application in th…
Ford Highway Driving RTK Dataset: 30,000 km of North American Highways
Sarah E. Houts, Nahid Pervez, Umair Ibrahim +2
There is a growing need for vehicle positioning information to support Advanced Driver Assistance Systems (ADAS), Connectivity (V2X), and Autonomous Driving (AD) features. These ra…
Experimental Evaluation of 3D-LIDAR Camera Extrinsic Calibration
Subodh Mishra, Philip R. Osteen, Gaurav Pandey +1
In this paper we perform an experimental comparison of three different target based 3D-LIDAR camera calibration algorithms. We briefly elucidate the mathematical background behind…
Aerial Imagery based LIDAR Localization for Autonomous Vehicles
Ankit Vora, Siddharth Agarwal, Gaurav Pandey +1
This paper presents a localization technique using aerial imagery maps and LIDAR based ground reflectivity for autonomous vehicles in urban environments. Traditional localization t…
Ford Multi-AV Seasonal Dataset
Siddharth Agarwal, Ankit Vora, Gaurav Pandey +3
This paper presents a challenging multi-agent seasonal dataset collected by a fleet of Ford autonomous vehicles at different days and times during 2017-18. The vehicles traversed a…
Extrinsic Calibration of a 3D-LIDAR and a Camera
Subodh Mishra, Gaurav Pandey, Srikanth Saripalli
This work presents an extrinsic parameter estimation algorithm between a 3D LIDAR and a Projective Camera using a marker-less planar target, by exploiting Planar Surface Point to P…
Mask & Focus: Conversation Modelling by Learning Concepts
Gaurav Pandey, Dinesh Raghu, Sachindra Joshi
Sequence to sequence models attempt to capture the correlation between all the words in the input and output sequences. While this is quite useful for machine translation where the…
Deep-Geometric 6 DoF Localization from a Single Image in Topo-metric Maps
Tom Roussel, Punarjay Chakravarty, Gaurav Pandey +2
We describe a Deep-Geometric Localizer that is able to estimate the full 6 Degree of Freedom (DoF) global pose of the camera from a single image in a previously mapped environment.…
Localization Requirements for Autonomous Vehicles
Tyler G. R. Reid, Sarah E. Houts, Robert Cammarata +4
Autonomous vehicles require precise knowledge of their position and orientation in all weather and traffic conditions for path planning, perception, control, and general safe opera…
Standalone and RTK GNSS on 30,000 km of North American Highways
Tyler G. R. Reid, Nahid Pervez, Umair Ibrahim +4
There is a growing need for vehicle positioning information to support Advanced Driver Assistance Systems (ADAS), Connectivity (V2X), and Automated Driving (AD) features. These ran…
Unsupervised Learning of Interpretable Dialog Models
Dhiraj Madan, Dinesh Raghu, Gaurav Pandey +1
Recently several deep learning based models have been proposed for end-to-end learning of dialogs. While these models can be trained from data without the need for any additional a…
Deep Discriminative Learning for Unsupervised Domain Adaptation
Rohith AP, Ambedkar Dukkipati, Gaurav Pandey
The primary objective of domain adaptation methods is to transfer knowledge from a source domain to a target domain that has similar but different data distributions. Thus, in orde…
Motion Guided LIDAR-camera Self-calibration and Accelerated Depth Upsampling for Autonomous Vehicles
Juan Castorena, Gint Puskorius, Gaurav Pandey
This work proposes a novel motion guided method for target-less self-calibration of a LiDAR and camera and use the re-projection of LiDAR points onto the image reference frame for…
Compact Environment-Invariant Codes for Robust Visual Place Recognition
Unnat Jain, Vinay P. Namboodiri, Gaurav Pandey
Robust visual place recognition (VPR) requires scene representations that are invariant to various environmental challenges such as seasonal changes and variations due to ambient l…
Robust and Fast 3D Scan Alignment using Mutual Information
Nikhil Mehta, James R. McBride, Gaurav Pandey
This paper presents a mutual information (MI) based algorithm for the estimation of full 6-degree-of-freedom (DOF) rigid body transformation between two overlapping point clouds. W…
Learning to segment with image-level supervision
Gaurav Pandey, Ambedkar Dukkipati
Deep convolutional networks have achieved the state-of-the-art for semantic image segmentation tasks. However, training these networks requires access to densely labeled images, wh…
Variational methods for Conditional Multimodal Deep Learning
Gaurav Pandey, Ambedkar Dukkipati
In this paper, we address the problem of conditional modality learning, whereby one is interested in generating one modality given the other. While it is straightforward to learn a…