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Rajeev's Projects

acrobat icon acrobat

Acrobat - Academic project for Mechatronics (MEAM 510) course at University of Pennsylvania. A self balancing bot using M2 (atmega32u4 processor) and IMU unit was designed.

edge_detection icon edge_detection

Edge Detection - Academic Project for Computer Vision (CIS 581) course at UPenn. Canny edge detection method was implemented using MATLAB as working environment.

gesture_recognition icon gesture_recognition

Gesture Recognition - Academic Project for Learning in Robotics (ESE 650) course at UPenn. Gesture Recognition based on IMU data using Hidden Markov Model. MATLAB is the working environment.

image_morphing icon image_morphing

Image Morphing - Academic Project for Computer Vision (CIS 581) course at UPenn. Morphs two image using Delaunay Triangulation and Thin Plate Spline Methods. MATLAB is the working environment.

image_mosaicing icon image_mosaicing

Image Mosaicing - An academic project for Computer Vision (CIS 581) course at UPenn. Stitches together several images to create a panoroma. MATLAB is the working environment used.

learning_cost_planning icon learning_cost_planning

Learning Cost Planning - Academic Project for Learning in Robotics (ESE 650) course at UPenn. Learning Costs for Path planning for various modes of transport on a real aeiral map using Gradient Descent Methods. MATLAB is the working environment.

logo_detection_and_replacement icon logo_detection_and_replacement

Logo Detection and Replacement - Academic Project for Computer Vision course (CIS 581) at UPenn. Logo Detection is done using HOG features defined and implemented using MATLAB.

multi-robot_slam icon multi-robot_slam

Multi-robot Slam - Academic project for Learning in Robotics (ESE 650) course at UPenn. 2D Slam using Lidar readings using occupancy grid mapping. Finally multiplle robots individual maps are merged with loop closing, scan alignment, etc.

object_detection icon object_detection

Object Detection - Academic Project for Learning in Robotics (ESE 650) course at UPenn. Object Detection by color segmentation using Gaussian Mixture Model

orientation_tracking icon orientation_tracking

Orientation Tracking - Academic Project for Learning in Robotics (ESE 650) course at UPenn. An quaternion base Unscented Kalman Filter was used for tracking the orientation of an IMU unit. MATLAB is the working environment.

pumart icon pumart

Pumart - Academic Project for Introduction to Robotics Course (MEAM 520) at UPenn. Drawing created on paper using PUMA 260 with inverse kinematics and forward kinematics. MATLAB was used to operate the PUMA 260. Any drawing given is extracted to create a edge image which is then parsed to give IK waypoints.

robockey icon robockey

Robockey - Academic Project for Mechatronics (MEAM 510) course at UPenn. Robockey is basically 3 robots playing hockey with Wii sensor based localization, IR puck tracking and solenoid based kicking mechanisms on a rink.

slalom icon slalom

Slalom - Academic project for Introduction to Robotics (MEAM 520) course at UPenn. A robot mounted with a monocular camera navigating a slalom course with six red poles.

slam icon slam

Slam - Academic project for Learning in Robotics (ESE 650) course at UPenn. 2D Slam using Lidar readings using occupancy grid mapping. Finally the camera feed was overlayed on the created map to get the texture of the 2D environment.

telepuma icon telepuma

Telepuma - Academic project for Introduction to Robotics (MEAM 520) course at UPenn. Puma 260 mimics the operations on Phantom. Force feedback and virtual workspace were implemented.

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