Estimation of Appearance of a scene increases the accuracy of Bird's Eye View (BEV) representation of the scene.
We achieve high viewpoint invariance local feature matching using rotation homographies during training and converting perspective image to orthographic for feature matching.
Visual Place Recognition algorithm to detect places from 180 degree opposite viewpoints, using a novel idea to localize based on floor signatures.
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.