Vision based Pose and Velocity estimation of a micro aerial vehicle using RANSAC April 2022
Implemented four-point algorithm and projective geometry to localize an aerial vehicle on a mat of April Tags
Programmed an algorithm for optical flow estimation using the Lucas–Kanade algorithm & Motion Field Equations
Implemented RANSAC to make the system more robust and reject outliers using three sets of constraints
Extended Kalman Filter for AV Localization using Vicon camera and IMU March 2022
Implemented Extended Kalman Filter for estimating position, velocity, and orientation, and sensor biases of a AV
Programmed Prediction and Update functions accounting the sensor noise to get the predicted and updated probability density functions with unique mean and covariance in each iteration
Achieved a plot with almost complete overlap with desired values and runtime for 864 iterations under 1 min
Inverse kinematics and resolved rate control for KUKA IIWA 14 December 2021
Computed forward kinematics, joint velocities, jacobians, and joint trajectories for the serial manipulator
Generated joint trajectories by computing inverse kinematics and joint control along with end effector control
Implemented impedance control for the manipulator with gravity compensation
Obtained point-to-point trajectories for the end-effector by implementing different controls
Phalanx rehabilitation and replacement December 2021
Manufactured a prosthetic device for missing fingers which can also be used as a rehabilitation device
The device movements mirror the actions of the corresponding finger from another hand
Developed a low-cost underactuated device using a flex sensor and Arduino for disabled patients
Traffic Light Classifier February 2021
Built a classifier for images from a given dataset of traffic light images in which one colored light is illuminated
Employed OpenCV2 computer vision library for Loading and visualizing the data, Pre-processing it, Feature extraction Classification and visualizing error, and evaluating the model
Recognized and classified the images in multiple colors and achieved greater than 90% accuracy in classification
Histogram Filter January 2021
Programmed a 2-D histogram filter for robot localization in Python and C++
Implemented the histogram filter in a grid map representing the robot's world by assigning the robot's belief of its
environment before sensing, considering the probability of the robot making an error in sensing its environment
Obtained a refined 2-D filter for a robot living on a colored cyclical grid