Nikhil Gosala

	PhD Student
	Postal address:	Albert-Ludwigs-Universität Freiburg¹ Technische Fakultät² Robot Learning Lab³ Georges-Köhler-Allee 080 D-79110 Freiburg im Breisgau Germany
	Office:	080-008
	Email:	gosalan (at) cs (dot) uni-freiburg (dot) de
	Phone:	+49 761 203-8011

About me

07/2020 - current: Ph.D. Student in the Robot Learning Lab⁴, University of Freiburg¹
09/2017 - 05/2020: M.Sc. in Computer Science, ETH Zürich

08/2013 - 07/2017: B.E. (Honours) in Computer Science, BITS Pilani - Hyderabad

Research Interests

Perception for Robotics
Self-supervised Learning for Multi-modal Perception
Mapping and Localization

Publications

View all my publications on Google Scholar⁵

2024

Nikhil Gosala, Kürsat Petek, B Ravi Kiran, Senthil Yogamani, Paulo L. J. Drews-Jr, Wolfram Burgard, Abhinav Valada
LetsMap: Unsupervised Representation Learning for Semantic BEV Mapping
European Conference on Computer Vision (ECCV) 2024.
Paper (ECVA)⁶ Supplementary (ECVA)⁷ Paper (arXiv)⁸ Video⁹ Project page¹⁰ BibTeX

@InProceedings{Gosala_2024_ECCV,
author={Gosala, Nikhil and Petek, K{\"u}rsat and Kiran, B Ravi and Yogamani, Senthil and Drews-Jr, Paulo and Burgard, Wolfram and Valada, Abhinav},
title={LetsMap: Unsupervised Representation Learning for Semantic BEV Mapping},
booktitle={arXiv preprint arXiv:2405.18852},
year={2024}}

2023

Julia Hindel, Nikhil Gosala, Kevin Bregler, Abhinav Valada
INoD: Injected Noise Discriminator for Self-Supervised Representation Learning in Agricultural Fields
IEEE Robotics and Automation Letters (RA-L) , vol. 8, no. 9, pp. 6013-6020, 2023.
Paper (IEEE)¹¹ Paper (arXiv)¹² Project page¹³ BibTeX

@article{hindel2023inod,
author={Hindel, Julia and Gosala, Nikhil and Bregler, Kevin and Valada, Abhinav},
journal={IEEE Robotics and Automation Letters}, 
title={INoD: Injected Noise Discriminator for Self-Supervised Representation Learning in Agricultural Fields}, 
year={2023},
volume={8},
number={9},
pages={6013-6020},
doi={10.1109/LRA.2023.3301269}}

Nikhil Gosala*, Kürsat Petek*, Paulo L. J. Drews-Jr, Wolfram Burgard, Abhinav Valada
SkyEye: Self-Supervised Bird's-Eye-View Semantic Mapping Using Monocular Frontal View Images
IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) 2023.
Paper (CVF)¹⁴ Paper (arXiv)¹⁵ Video¹⁶ Project page¹⁷ Code¹⁸ BibTeX

@InProceedings{Gosala_2023_CVPR,
author={Gosala, Nikhil and Petek, K\"ursat and Drews-Jr, Paulo L. J. and Burgard, Wolfram and Valada, Abhinav},
title={SkyEye: Self-Supervised Bird's-Eye-View Semantic Mapping Using Monocular Frontal View Images},
booktitle={Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)},
month={June},
year={2023},
pages={14901-14910}}

2022

Borna Besic*, Nikhil Gosala*, Daniele Cattaneo, Abhinav Valada
Unsupervised Domain Adaptation for LiDAR Panoptic Segmentation
IEEE Robotics and Automation Letters (RA-L), vol. 7, no. 2, pp. 3404-3411, 2022.
Paper (IEEE)¹⁹ Paper (arXiv)²⁰ Video²¹ Project page²² BibTeX

@article{besic2022uda,  
author={Bešić, Borna and Gosala, Nikhil and Cattaneo, Daniele and Valada, Abhinav},  
journal={IEEE Robotics and Automation Letters},   
title={Unsupervised Domain Adaptation for LiDAR Panoptic Segmentation},   
year={2022},  
volume={7},  
number={2},  
pages={3404-3411},  
doi={10.1109/LRA.2022.3147326}}

Nikhil Gosala, Abhinav Valada
Bird's-Eye-View Panoptic Segmentation Using Monocular Frontal View Images
IEEE Robotics and Automation Letters (RA-L), vol. 7, no. 2, pp. 1968-1975, 2022.
Paper (IEEE)²³ Paper (arXiv)²⁴ Video²⁵ Project page²⁶ Code²⁷ BibTeX

@article{gosala22bev,
  author={Gosala, Nikhil and Valada, Abhinav},
  journal={IEEE Robotics and Automation Letters}, 
  title={Bird’s-Eye-View Panoptic Segmentation Using Monocular Frontal View Images}, 
  year={2022},
  volume={7},
  number={2},
  pages={1968-1975},
  doi={10.1109/LRA.2022.3142418}}

2021

Nikhil Gosala*, Fangjinhua Wang*, Zhaopeng Cui, Hanxue Liang, Oliver Glauser, Shihao Wu, Olga Sorkine-Hornung
Self-Calibrated Multi-Sensor Wearable for Hand Tracking and Modeling
IEEE Transactions on Visualization and Computer Graphics (TVCG), 2021.
Paper²⁸ Video²⁹ Project page³⁰ BibTeX

@article{gosala2021MultiSensorWearable,
author = {Gosala, N. and Wang, F. and Cui, Z. and Liang, H. and Glauser, O. and Wu, S. and Sorkine-Hornung, O.},
journal = {IEEE Transactions on Visualization and Computer Graphics},
title = {Self-Calibrated Multi-Sensor Wearable for Hand Tracking and Modeling},
year = {2021},
volume = {},
number = {},
issn = {1941-0506},
doi = {10.1109/TVCG.2021.3131230},
publisher = {IEEE Computer Society},
month = {nov},
}

2020

Nikhil Gosala, Xiaoli Meng
An RLS-Based Instantaneous Velocity Estimator for Extended Radar Tracking
The International Conference on Intelligent Robots and Systems (IROS) 2020, Las Vegas, USA
Paper³¹ BibTeX

@inproceedings{gosala2020rls,
  title={An RLS-Based Instantaneous Velocity Estimator for Extended Radar Tracking},
  author={Gosala, Nikhil Bharadwaj and Meng, Xiaoli},
  booktitle={2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages={2273--2280},
  year={2020},
  organization={IEEE}
}

2019

Nikhil Gosala, Andreas Bühler, Manish Prajapat, Claas Ehmke, Mehak Gupta, Ramza Sivanesan, Abel Gawel, Mark Pfeiffer, Mathias Bürki, Inkzu Sa, Renaud Dube, and Roland Siegwart
Redundant Perception and State Estimation for Reliable Autonomous Racing
The International Conference on Robotics and Automation (ICRA) 2019, Montreal, Canada
Paper³² Video³³ BibTeX

@inproceedings{gosala2019redundant,
  title={Redundant perception and state estimation for reliable autonomous racing},
  author={Gosala, Nikhil and B{\"u}hler, Andreas and Prajapat, Manish and Ehmke, Claas and Gupta, Mehak and Sivanesan, Ramya and Gawel, Abel and Pfeiffer, Mark and B{\"u}rki, Mathias and Sa, Inkyu and others},
  booktitle={2019 International Conference on Robotics and Automation (ICRA)},
  pages={6561--6567},
  year={2019},
  organization={IEEE}
}

Note: The asterisk (*) denotes equal contribution.

Book Chapters

David Unger, Nikhil Gosala, Varun Ravi Kumar, Shubhankar Borse, Abhinav Valada, Senthil Yogamani
Multi-camera Bird's Eye View Perception for Autonomous Driving
Computer Vision: Challenges, Trends, and Opportunities, CRC Press, 2024, Chapter 13
Chapter (arXiv)³⁴