Nikhil Gosala

	PhD Student
	Postal address:	Albert-Ludwigs-Universität Freiburg Technische Fakultät Robot Learning Lab 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 Lab, University of Freiburg
• 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 Scholar

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)   Supplementary (ECVA)   Paper (arXiv)   Video   Project page 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)   Paper (arXiv)     Project page    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)   Paper (arXiv)   Video   Project page   Code    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)   Paper (arXiv)   Video   Project page    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)   Paper (arXiv)   Video   Project page    Code   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.
  Paper    Video   Project page    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
  Paper    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
  Paper    Video    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}
  }
  
  

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)