Designed a semantic segmentation-based system utilizing Mask R-CNN, SORT for real-time tracking, and pedestrian velocity prediction to generate danger zones around pedestrians. The resulting system estimates collision risk at 10 FPS.
Technologies: Python, Pytorch, OpenCV, Scipy, Mask R-CNN, SORT
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Designed a scalable monocular visual odometry system for the estimation of the 6 DOF pose of the ego vehicle. Implemented ORB feature matching, depth estimation, triangulation and Bundle Adjustment, processing 12 fps on the KITTI dataset.
Technologies: C++, OpenCV, Eigen, Ceres
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Designed and implemented a Neural Radiance Fields (NeRF) deep learning model to generate novel views of scenes from images, allowing the creation of 3D object GIFs with photorealistic rendering and seamless view synthesis.
Technologies: Python, Pytorch, OpenCV, Scipy
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Improved feature based monocular visual odometry system using dynamic object detection. ORB features from dynamic objects are filtered using YOLOv8 in the scene. Achieved 10% enhancement in the overall estimated trajectory.
Technologies: Python, OpenCV, Pytorch, Numpy, Scipy
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Developed a Visual SLAM system for autonomous vehicles. Leveraged feature-based methods (ORB), loop closure detection with Bag-of-Words and Bundle Adjustment, reducing trajectory drift by 20%.
Technologies: Python, OpenCV, DBoW, Numpy, Scipy
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Designed a module to create a panoramic image from multiple images(up to 6) using Harris Corner detection, Feature descriptor generation, Non Maximum Suppression, Feature matching using feature descriptors and RANSAC.
Technologies: Python, OpenCV, Numpy, Matplotlib
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Designed a Structure from Motion pipeline leveraging epipolar geometry constraints, RANSAC outlier rejection, triangulation, PnP, and Bundle Adjustment. Improved camera pose estimation accuracy by 85%, reducing reprojection error from 2720.6 to 381.09 pixels.
Technologies: Python, OpenCV, Numpy, Matplotlib
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