Search Results for author: Srikanth Saripalli

Found 10 papers, 2 papers with code

Contrastive Learning of Features between Images and LiDAR

no code implementations24 Jun 2022 Peng Jiang, Srikanth Saripalli

Moreover, we conduct experiments on a real-world dataset to show the effectiveness of our loss function and network structure.

Contrastive Learning

OTTR: Off-Road Trajectory Tracking using Reinforcement Learning

no code implementations5 Oct 2021 Akhil Nagariya, Dileep Kalathil, Srikanth Saripalli

Compared to the standard ILQR approach, our proposed approach achieves a 30% and 50% reduction in cross track error in Warthog and Moose, respectively, by utilizing only 30 minutes of real-world driving data.

reinforcement-learning

SemCal: Semantic LiDAR-Camera Calibration using Neural MutualInformation Estimator

no code implementations21 Sep 2021 Peng Jiang, Philip Osteen, Srikanth Saripalli

This paper proposes SemCal: an automatic, targetless, extrinsic calibration algorithm for a LiDAR and camera system using semantic information.

Camera Calibration Image Registration

Calibrating LiDAR and Camera using Semantic Mutual information

no code implementations24 Apr 2021 Peng Jiang, Philip Osteen, Srikanth Saripalli

We propose an algorithm for automatic, targetless, extrinsic calibration of a LiDAR and camera system using semantic information.

Image Registration

OFFSEG: A Semantic Segmentation Framework For Off-Road Driving

1 code implementation23 Mar 2021 Kasi Viswanath, Kartikeya Singh, Peng Jiang, Sujit P. B., Srikanth Saripalli

Off-road image semantic segmentation is challenging due to the presence of uneven terrains, unstructured class boundaries, irregular features and strong textures.

Scene Understanding Semantic Segmentation

RELLIS-3D Dataset: Data, Benchmarks and Analysis

2 code implementations17 Nov 2020 Peng Jiang, Philip Osteen, Maggie Wigness, Srikanth Saripalli

The data was collected on the Rellis Campus of Texas A\&M University and presents challenges to existing algorithms related to class imbalance and environmental topography.

3D Semantic Segmentation Autonomous Navigation +1

An Iterative LQR Controller for Off-Road and On-Road Vehicles using a Neural Network Dynamics Model

no code implementations28 Jul 2020 Akhil Nagariya, Srikanth Saripalli

We use model predictive control (MPC) to deal with model imperfections and perform extensive experiments to evaluate the performance of the controller on human driven reference trajectories with vehicle speeds of 3m/s- 4m/s for warthog and 7m/s-10m/s for the Polaris GEM

LiDARNet: A Boundary-Aware Domain Adaptation Model for Point Cloud Semantic Segmentation

no code implementations2 Mar 2020 Peng Jiang, Srikanth Saripalli

We present a boundary-aware domain adaptation model for LiDAR scan full-scene semantic segmentation (LiDARNet).

Domain Adaptation Semantic Segmentation

Fast Local Planning and Mapping in Unknown Off-Road Terrain

no code implementations18 Oct 2019 Timothy Overbye, Srikanth Saripalli

Then the most optimal trajectory, as determined by the cost map and proximity to A* path, is chosen and sent to the controller.

Monocular Vision based Collaborative Localization for Micro Aerial Vehicle Swarms

no code implementations7 Apr 2018 Sai Vemprala, Srikanth Saripalli

This collaborative localization approach is built upon a distributed algorithm where individual and relative pose estimation techniques are combined for the group to localize against surrounding environments.

Robotics

Cannot find the paper you are looking for? You can Submit a new open access paper.