WELCOME TO MY PAGE
Senior Undergraduate Student,
Indian Institute of Technology, Kanpur, India,
This work is about Auto-Calibration of Cameras
required for 3-D reconstruction of scenes. Till now people had considered
cases when all cameras present are either Full Perspective or Affine. I
consider the case when both types of cameras are present. This works comes
from my stage with the ROBOTVISION group at INRIA, Sophia Antipolis, France
under the supervision of Dr. Rachid Deriche.
reconstruction of scenes from multiple images
3-D reconstruction of scenes from multiple images
This is my first project in Vision. The case is of two uncalibrated cameras. It involves estimation of fundamental matrix from detected and matched corners and finding point correspondences through epipolar geometry.
This is my current project in Vision. The case is interesting because handwritten documents are more difficult to deal with than printed documents due to inconsistencies in the handwriting. Till now people had worked only on printed documents.
This project is about design and manufacture of a Redundant
Parallel Plane Serial Manipulator. It involves manipulator planning, obstacle
avoidance, controller design and kinematic calibration.
Such manipulators are required for maintenance and inspection of sites which are inhospitable to human beings and where even the terrain may be quite unfriendly for mobile robots.
In this work we propose a new approach for manipulator planning and obstacle avoidance, which is quite robust, using concepts of Genetic Algorithm. This approach is free from major problems of "Potential Field approach" like vibrations near obstacles etc.
This is about my first summer training in Robotics. My project there was about modeling and simulation of a 6 DOF slave manipulator arm robot with non-zero regular wrist offsets.
Here we derived the exact closed form solutions for the joint torques in the case of Hyper-Redundant serial manipulators which have all joint axes along the same direction and all the links in the same plane. This will reduce the computation complexity of the original torque equations from the Lagrangian formulation drastically.
Here we attempt to do Path Planning by generating local minima free Potential Function values for given Work-cells. These functions are the solutions of the Laplace's equation and are called harmonic functions.