Publications

Estimation of Appearance and Occupancy Information in Bird’s Eye View from Surround Monocular Images

Estimation of Appearance of a scene increases the accuracy of Bird’s Eye View (BEV) representation of the scene.

Sarthak Sharma, Unnikrishnan R Nair, Udit Singh Parihar, Menon Midhun S, Srikanth Vidapanakal

Estimation of Appearance and Occupancy Information in Bird’s Eye View from Surround Monocular Images

RoRD: Rotation-Robust Descriptors and Orthographic Views for Local Feature Matching

We achieve high viewpoint invariance local feature matching using rotation homographies during training and converting perspective image to orthographic for feature matching.

Udit Singh Parihar, Aniket Gujarathi, Kinal Mehta, Satyajit Tourani, Sourav Garg, Michael Milford, K. Madhava Krishna

PDF Code Project Video

RoRD: Rotation-Robust Descriptors and Orthographic Views for Local Feature Matching

Early Bird: Loop Closures from Opposing Viewpoints for Perceptually-Aliased Indoor Environments

Visual Place Recognition algorithm to detect places from 180 degree opposite viewpoints, using a novel idea to localize based on floor signatures.

Satyajit Tourani, Dhagash Desai, Udit Singh Parihar, Sourav Garg, Ravi Kiran Sarvadevabhatla, Michael Milford, K. Madhava Krishna

Early Bird: Loop Closures from Opposing Viewpoints for Perceptually-Aliased Indoor Environments

Topological Mapping for Manhattan-like Repetitive Environments

Used semantics understanding to assist loop closure detection and localization in SLAM framework in challenging warehouse environment. Incorporated topological edges in a pose graph optimization.

Sai Shubodh Puligilla, Satyajit Tourani, Tushar Vaidya, Udit Singh Parihar, Ravi Kiran Sarvadevabhatla, K. Madhava Krishna

Topological Mapping for Manhattan-like Repetitive Environments