PROJECTS


3D STEREO OBSTACLE AVOIDANCE

Obstacle avoidance using pixhawk flight controller and stereo camera setup. Extrated the point clouds and used reconstructed polar histogram using it. Histograms from previous time steps where used to percieve the environment better. Cost function based on orientation and the smoothing term where used to assign weights to the field of view. Based on these navigation avoiding obstacles was established.


VISUAL ODOMETRY

Development of python package to reconstruct indoor and outdoor environments with diverse texture contrasts using Oriented FAST and Rotated Brief feature detector, FLANN based matchers and RANSAC for outlier removal; Optical flow and PnP (DLT and Levenberg) for estimating the pose of robot.