Suryansh Kumar

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This paper proposes a robust approach for image based floor detection and segmentation from sequence of images or video. In contrast to many previous approaches, which uses a priori knowledge of the surroundings, our method uses combination of modified sparse optical flow and planar homography for ground plane detection which is then combined with graph(More)
Frontier detection is a critical component in indoor mobile robot exploration, wherein the robot decides the next best location to move in order to continue with its mapping process. All frontier detection algorithms to the best of our knowledge require 3D locations of occupied regions as its input. In a monocular setting this entails a backend VSLAM(More)
Small obstacles of the order of 0.5-3cms and homogeneous scenes often pose a problem for indoor mobile robots. These obstacles cannot be clearly distinguished even with the state of the art depth sensors or laser range finders using existing vision based algorithms. With the advent of sophisticated image processing algorithms like SLIC [1] and LSD [9], it(More)
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