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Ranjith Unnikrishnan
PhD Student

Associated center: VASC

Email address: ranjith@andrew.cmu.edu

Mailing address:
Carnegie Mellon University
Robotics Institute
5000 Forbes Avenue
Pittsburgh, PA 15213

For more information, see my personal homepage.

Jump to: Research interests | Keywords | Additional Interests and Responsibilities | Labs & groups | Projects | Publications

My interests are in the broad area of scene understanding, particularly the problems of object detection and terrain classification from 3-D and image data.

My current research concerns spatially consistent classification of off-road terrain to better inform planning algorithms for navigation, as well as more fundamental questions about scale theory in non-uniformly sampled data. In the past, I've worked on a diverse set of problems ranging from mosaic-based localization, mapping and model-building, to multiple-object detection from image and range data, to ancillary technologies like performance metrics for vision algorithms and development of new flexible calibration techniques.

3-D perception, computer vision, machine learning, mobile robots, object recognition, range data, sensor fusion, and statistics

I help to maintain machines, and manage disk space and partition allocations in the Vision & Mobile Robotics lab.

• Vision and Mobile Robotics Lab - Our group studies fundamental problems of Computer Vision and ground mobile robotics.

• Automated Material Transport System
• MARS2020 - This project seeks to develop softwares needed to program autonomous mobile robots in partially known, changing, and unpredictable environments.

• Denoising Manifold and Non-Manifold Point Clouds
  R. Unnikrishnan and M. Hebert
  18th British Machine Vision Conference (BMVC), September, 2007. [Abstract]
  Download: pdf [624 KB] copyrighted

• Toward Objective Evaluation of Image Segmentation Algorithms
  R. Unnikrishnan, C. Pantofaru, and M. Hebert
  IEEE Transactions on Pattern Analysis and Machine Intelligence, Vol. 29, No. 6, June, 2007, pp. 929-944. [Abstract]
  Download: pdf [2770 KB] copyrighted

• Vegetation Detection for Driving in Complex Environments
  D. Bradley, R. Unnikrishnan, and J. Bagnell
  IEEE International Conference on Robotics and Automation, April, 2007. [Abstract]
  Download: pdf [1694 KB] copyrighted

• Extracting Scale and Illuminant Invariant Regions Through Color
  R. Unnikrishnan and M. Hebert
  17th British Machine Vision Conference, September, 2006. [Abstract]
  Download: pdf [1577 KB] copyrighted

• Scale Selection for the Analysis of Point Sampled Curves: Extended Report
  R. Unnikrishnan, J. Lalonde, N. Vandapel, and M. Hebert
  tech. report CMU-RI-TR-06-25, Robotics Institute, Carnegie Mellon University, June, 2006. [Abstract]
  Download: pdf [809 KB] copyrighted

• Scale Selection for the Analysis of Point-Sampled Curves
  R. Unnikrishnan, J. Lalonde, N. Vandapel, and M. Hebert
  Third International Symposium on 3D Processing, Visualization and Transmission (3DPVT 2006), June, 2006. [Abstract]
  Download: pdf [617 KB] copyrighted

• Fast Extrinsic Calibration of a Laser Rangefinder to a Camera
  R. Unnikrishnan and M. Hebert
  tech. report CMU-RI-TR-05-09, Robotics Institute, Carnegie Mellon University, July, 2005. [Abstract]
  Download: pdf [1416 KB] copyrighted

• A Measure for Objective Evaluation of Image Segmentation Algorithms
  R. Unnikrishnan, C. Pantofaru, and M. Hebert
  Proceedings of the 2005 IEEE Conference on Computer Vision and Pattern Recognition (CVPR '05), Workshop on Empirical Evaluation Methods in Computer Vision, Vol. 3, June, 2005, pp. 34 - 41. [Abstract]
  Download: pdf [897 KB] copyrighted

• Scale Selection for Classification of Point-sampled 3-D Surfaces
  J. Lalonde, R. Unnikrishnan, N. Vandapel, and M. Hebert
  Fifth International Conference on 3-D Digital Imaging and Modeling (3DIM 2005), June, 2005, pp. 285 - 292. [Abstract]
  Download: pdf [950 KB] copyrighted

• Measures of Similarity
  R. Unnikrishnan and M. Hebert
  Seventh IEEE Workshop on Applications of Computer Vision, January, 2005, pp. 394-400. [Abstract]
  Download: pdf [504 KB] copyrighted