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)
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