Author

Rohit Mohan

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Preprint Oct 2026

Perception Beyond the Visible: Incompleteness-Aware Scene Understanding for Robot Autonomy

Reliable robot autonomy requires reasoning about the world from partial and noisy observations. However, many perception systems model only visible scene regions, rely on fixed semantic categories, and assume reliable sensor measurements. These assumptions break under occlusion, novel object encounters, and sensor degr...

Rohit Mohan · 0 citations

Preprint Sep 2026

Leveraging Vision-Based Point Cloud Map Priors for Camera-Based 3D Object Detection and Online Vectorized HD Mapping

Camera-based 3D object detection and online vectorized HD mapping provide compact scene representations for autonomous driving, but both depend on accurate metric geometry and remain limited by depth ambiguity. Over long-term deployment, observations from repeated traversals can be accumulated into persistent point clo...

Markus Käppeler, Rohit Mohan, Abhinav Valada · 0 citations