Bharath Surianarayanan — accepted AI-conference papers

2026

SAVMap: Structure-Aided Visual Mapping of Large-Scale 2.5D Manhattan Wireframes from Panoramic Video

Howard Huang, Bharath Surianarayanan, Keifer Lee, Chenyu Wang, Chen Feng

ICRA 2026poster

Precise 3D representations of industrial environments enable tasks such as robot localization and digital twin generation. We propose SAVMap, a method for generating a wireframe map of warehouse shelf and light structures using only a panoramic video camera as the sensor input. Sequences of rectifie…

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2023

Concavity-Induced Distance for Unoriented Point Cloud Decomposition

Ruoyu Wang, Yanfei Xue, Bharath Surianarayanan, Dong Tian, Chen Feng

RA-L 2023

We propose Concavity-induced Distance (CID) as a novel way to measure the dissimilarity between a pair of points in an unoriented point cloud. CID indicates the likelihood of two points or two sets of points belonging to different convex parts of an underlying shape represented as a point cloud. Aft

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