272 citations · 426 across the 17 of their papers we have counts for
11 papers · 1 filter
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…
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…
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…
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…
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…