ranjith :: research

NOTE: This list is out-of-date. Please see my RI page for a complete list of publications.

Invariance in Low-level Vision

Extracting Scale and Illuminant Invariant Regions through Color
R. Unnikrishnan and Martial Hebert
17th British Machine Vision Conference (BMVC), Sept, 2006 [pdf].

Scene understanding from 3-D data

	Scale Selection for the Analysis of Point-sampled Curves R. Unnikrishnan, J.-F. Lalonde, N. Vandapel, Martial Hebert Third International Symposium on 3-D Processing, Visualization and Transmission (3DPVT), June, 2006 [pdf]. More details are in Tech report CMU-RI-TR-06-25 [pdf]
	Scale Selection for Classification of Point-sampled 3-D Surfaces J.-F. Lalonde, R. Unnikrishnan, N. Vandapel and Martial Hebert Fifth International Conference on 3-D Digital Imaging and Modeling (3DIM 2005), June, 2005 [pdf]
	Robust Extraction of Multiple Structures from Non-Uniformly Sampled Data R. Unnikrishnan and Martial Hebert Proc. IEEE/RSJ Intl. Conference on Intelligent Robots and Systems, 2003 (IROS �03), Vol. 2, pp. 1322�1329 [pdf]
	Toward Generating Labeled Maps from Color and Range Data for Robot Navigation C. Pantofaru, R. Unnikrishnan, Martial Hebert Proc. IEEE/RSJ Intl. Conference on Intelligent Robots and Systems, 2003 (IROS �03), Vol. 2, pp. 1314�1321 [pdf]

Empirical Evaluation of Computer Vision Algorithms

	A Measure for Objective Evaluation of Image Segmentation Algorithms R. Unnikrishnan, C. Pantofaru, Martial Hebert Proceedings of the 2005 IEEE Conference on Computer Vision and Pattern Recognition (CVPR '05), Workshop on Empirical Evaluation Methods in Computer Vision, June, 2005 [pdf]
	Measures of Similarity R. Unnikrishnan, Martial Hebert Seventh IEEE Workshop on Applications of Computer Vision (WACV), January, 2005, pp. 394-400 [pdf]

Fast and Robust Techniques for Sensor Calibration

Fast Extrinsic Calibration of a Laser Rangefinder to a Camera
R. Unnikrishnan, Martial Hebert
tech. report CMU-RI-TR-05-09, Robotics Institute, Carnegie Mellon University, July, 2005 [pdf]

The calibration software is available here.

Globally consistent mapping in large cyclic environments

	Efficient Construction of Globally Consistent Ladar Maps using Pose Network Topology and Nonlinear Programming Alonzo Kelly, R. Unnikrishnan Proc. 11th International Symposium of Robotics Research (ISRR 2003) [pdf]
	A Constrained Optimization Approach to Globally Consistent Mapping R. Unnikrishnan, Alonzo Kelly Proc. IEEE/RSJ Intl. Conference on Intelligent Robots and Systems, 2002 (IROS �02), Vol. 1, October, 2002, pp. 564�569 [pdf]
	Globally Consistent Mosaicking for Autonomous Visual Navigation R. Unnikrishnan Master�s thesis, tech. report CMU-RI-TR-02-22, Robotics Institute, Carnegie Mellon University, September, 2002 [pdf]
	Mosaicking Large Cyclic Environments for Visual Navigation in Autonomous Vehicles R. Unnikrishnan, Alonzo Kelly Proc. IEEE International Conference on Robotics and Automation, 2002 (ICRA �02), Vol. 4, May, 2002, pp. 4299�4306 [pdf]