Souparna Chatterjee

Gyro-Aided Epipolar Filtering for Visual-Inertial Odometry on KITTI and EuRoC: An Empirical Study with Failure Analysis

This contains the complete implementation, notebook environments, and evaluation data for a compact error-state Kalman filter (ESKF) pipeline for Visual-Inertial Odometry (VIO) optimized for low-cost embedded platforms. Built and evaluated step by step using both the KITTI raw da...

From Rooms to Rows: Adapting Indoor Functional-Zone Segmentation to Open Parking Environments

Indoor 3D scene-graph methods increasingly subdivide open-plan environments into functional sub-regions by projecting scanned geometry into a bird’s-eye-view representation and applying distance-field and watershed-based segmentation. This work investigates whether the underlying...

From Rooms to Rows: Adapting Indoor Functional-Zone Segmentation to Open Parking Environments

Indoor 3D scene-graph methods increasingly subdivide open-plan environments into functional sub-regions by projecting scanned geometry into a bird’s-eye-view representation and applying distance-field and watershed-based segmentation. This work investigates whether the underlying...

From Rooms to Rows: Adapting Indoor Functional-Zone Segmentation to Open Parking Environments

Indoor 3D scene-graph methods increasingly subdivide open-plan environments into functional sub-regions by projecting scanned geometry into a bird’s-eye-view representation and applying distance-field and watershed-based segmentation. This work investigates whether the underlying...