Publications

2026

1. RA-L

   CLEAR: A Semantic-Geometric Terrain Abstraction for Large-Scale Unstructured Environments

   Pranay Meshram, Charuvahan Adhivarahan, Ehsan Tarkesh Esfahani, and 3 more authors

   IEEE Robotics and Automation Letters, 2026

   Abs arXiv Bib HTML

   Long-horizon navigation in unstructured environments demands terrain abstractions that scale to tens of km\textsuperscript2 while preserving semantic and geometric structure, which neither uniform grids nor quadtrees provide. CLEAR combines boundary-aware spatial decomposition with recursive plane fitting to produce convex, semantically aligned regions encoded as a terrain-aware graph, enabling faster and more reliable planning on large areas.

   @article{meshram2026clear,
     title = {CLEAR: A Semantic-Geometric Terrain Abstraction for Large-Scale Unstructured Environments},
     author = {Meshram, Pranay and Adhivarahan, Charuvahan and Esfahani, Ehsan Tarkesh and Chowdhury, Souma and Wang, Chen and Dantu, Karthik},
     journal = {IEEE Robotics and Automation Letters},
     year = {2026},
     webpage = {https://droneslab.github.io/CLEAR/}
   }

2. WACV

   QAL: A Loss for Recall–Precision Balance in 3D Reconstruction

   Pranay Meshram, Yash Turkar, Kartikeya Singh, and 3 more authors

   In Proceedings of the IEEE/CVF Winter Conference on Applications of Computer Vision (WACV), Mar 2026

   Abs DOI arXiv Bib HTML

   Volumetric learning underpins many 3D vision tasks such as completion, reconstruction, and mesh generation, yet training objectives still rely on Chamfer Distance (CD) or Earth Mover’s Distance (EMD), which fail to balance recall and precision. We propose Quality-Aware Loss (QAL), a drop-in replacement for CD/EMD that combines a coverage-weighted nearest-neighbor term with an uncovered–ground-truth attraction term, explicitly decoupling recall and precision into tunable components.

   @inproceedings{meshram2026qal,
     title = {QAL: A Loss for Recall--Precision Balance in 3D Reconstruction},
     author = {Meshram, Pranay and Turkar, Yash and Singh, Kartikeya and Masilamani, Praveen Raj and Adhivarahan, Charuvahan and Dantu, Karthik},
     booktitle = {Proceedings of the IEEE/CVF Winter Conference on Applications of Computer Vision (WACV)},
     pages = {7965--7974},
     month = mar,
     year = {2026},
     doi = {10.1109/WACV61042.2026.00769}
   }

3. CRV

   Empir3D: A Framework for Multi-Dimensional Point Cloud Assessment

   Yash Turkar, Pranay Meshram, Christo Aluckal, and 2 more authors

   In Proceedings of the 23rd Conference on Robots and Vision (CRV), May 2026

   Abs DOI arXiv Bib HTML

   Empir3D proposes a multi-dimensional point cloud evaluation framework with metrics for resolution, accuracy, coverage, and artifacts, providing richer assessment of SLAM and point cloud completion results beyond traditional Chamfer or EMD.

   @inproceedings{turkar2026empir3d,
     title = {Empir3D: A Framework for Multi-Dimensional Point Cloud Assessment},
     author = {Turkar, Yash and Meshram, Pranay and Aluckal, Christo and Adhivarahan, Charuvahan and Dantu, Karthik},
     booktitle = {Proceedings of the 23rd Conference on Robots and Vision (CRV)},
     month = may,
     year = {2026},
     doi = {10.21428/d82e957c.900da59a},
   }

2022

1. MobiSys

   A modular, extensible framework for modern visual SLAM systems

   Sofiya Semenova, Pranay Meshram, Timothy Chase, and 4 more authors

   In Proceedings of the 20th Annual International Conference on Mobile Systems, Applications and Services, May 2022

   DOI Bib HTML

   @inproceedings{semenova2022modular,
     title = {A modular, extensible framework for modern visual SLAM systems},
     author = {Semenova, Sofiya and Meshram, Pranay and Chase, Timothy and Ko, Steven and Liu, Yu and Ziarek, Lukasz and Dantu, Karthik},
     booktitle = {Proceedings of the 20th Annual International Conference on Mobile Systems, Applications and Services},
     pages = {579--580},
     year = {2022},
     organization = {ACM},
     doi = {10.1145/3498361.3538793},
   }

2014

1. IJERA

   Automated License Plate Recognition System (ALPRS) using Regular Expression

   Pranay Meshram, Mohanish Indurkar, Ritu Raj, and 1 more author

   International Journal of Engineering Research and Applications (IJERA), Apr 2014

   International Conference on Industrial Automation And Computing (ICIAC- 12th & 13th April 2014)

   Bib HTML PDF

   @article{meshram2014alprs,
     title = {Automated License Plate Recognition System (ALPRS) using Regular Expression},
     author = {Meshram, Pranay and Indurkar, Mohanish and Raj, Ritu and Chitare, Neeranjan},
     journal = {International Journal of Engineering Research and Applications (IJERA)},
     volume = {8},
     year = {2014},
     month = apr,
     note = {International Conference on Industrial Automation And Computing (ICIAC- 12th \& 13th April 2014)},
   }