Janindu Arukgoda — accepted AI-conference papers

2020

Localising PMDs through CNN Based Perception of Urban Streets

Maleen Jayasuriya, Janindu Arukgoda, Ravindra Ranasinghe, Gamini Dissanayake

ICRA 2020poster

The main contribution of this paper is a novel Extended Kalman Filter (EKF) based localisation scheme that fuses two complementary approaches to outdoor vision based localisation. This EKF is aided by a front end consisting of two Convolutional Neural Networks (CNNs) that provide the necessary perce…

Cited by 10 Source ↗Scholar ↗

2017

Distance function based 6DOF localization for unmanned aerial vehicles in GPS denied environments

James Unicomb, Lakshitha Dantanarayana, Janindu Arukgoda, Ravindra Ranasinghe, Gamini Dissanayake, Tomonari Furukawa

IROS 2017poster

This paper presents an algorithm for localizing an unmanned aerial vehicle (UAV) in GPS denied environments. Localization is performed with respect to a pre-built map of the environment represented using the distance function of a binary mosaic, avoiding the need for extraction and explicit matching…

Cited by 15 Source ↗Scholar ↗