Ranjan Dasgupta — accepted AI-conference papers

2019

Multirotor dynamics based online scale estimation for monocular SLAM

Mohit Ludhiyani, Vishvendra Rustagi, Ranjan Dasgupta, Arnab Sinha

ICRA 2019poster

This paper proposes a novel method to estimate the scale online for monocular SLAM. Unlike conventional scale estimation methods that require a metric sensor such as an IMU and apriori knowledge of its biases, this approach estimates the scale online by solely using the monocular camera and multirot…

Cited by 4 Source ↗Scholar ↗

2019

Safe and Fast Path Planning in Cluttered Environment using Contiguous Free-space Partitioning

Arup Kumar Sadhu, Shubham Shukla, Titas Bera, Ranjan Dasgupta

ICRA 2019poster

The paper proposes a path planning algorithm for cluttered environment and maze. The proposed planning algorithm exploits the merit of convex optimization while forming the convex navigable free-spaces, ensuring safety of the vehicle. The contiguous convex free-spaces are iteratively computed from a…

Cited by 6 Source ↗Scholar ↗