UAV AND SERVICE ROBOT COORDINATION FOR INDOOR OBJECT SEARCH TASKS

M.S. Robotics, Carnegie Mellon University



Advisors: Stephanie Rosenthal, Manuela M. Veloso

      Our CoBot robots have successfully performed a variety of service tasks in our multi-building environment including accompanying people to meetings and delivering objects to offices due to its navigation and localization capabilities. However, they lack the capability to visually search over desks and other confined locations for an object of interest. Conversely, an inexpensive GPS-denied quadcopter platform such as the Parrot ARDrone 2.0 could perform this object search task if it had access to reasonable localization. In this work, we proposed the concept of coordination between CoBot and the Parrot ARDrone 2.0 to perform servicebased object search tasks, in which CoBot localizes and navigates to the general search areas carrying the ARDrone and the ARDrone searches locally for objects. We proposed a vision-based moving target navigation algorithm that enables the ARDrone to localize with respect to CoBot, search for objects, and return to the CoBot for future searches. We demonstrated our algorithm in indoor environments on several search trajectories.

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Mobile­-based Blood­-Sample Image Analysis

Google Summer of Code 2015 May 2015 – Aug 2015



Organization: University of Nebraska - Helikar Lab
Mentors: Tomas Helikar, Jiri Adamec

Abstract

      Project aims to develop android application for a screening test for the detection of cancer bio-marker(s) from a small drop of blood. Many softwares exist for Blood sample image analysis, but most of them contain a trade-off between portability and accuracy. Using the state of art Image processing techniques and camera-equipped mobile devices with sufficient processing capacity, developing a reliable application that performs screening test for cancer biomarker detection is feasible.

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FACE DETECTION TO AID LOW VISION PATIENTS
Undergradute Thesis Nov 2014 - May 2015


To develop an application to augment and present enhanced scene understanding specifically related to face detection to aid low-vision patients.

Supervisor
Dr. Eli Peli, MSc, OD, DSc (Hon)
Professor of Ophthalmology, Harvard Medical School
Senior Scientist, Schepens Eye Research Institute, Massachusetts Eye & Ear

Internal Supervisor
Prof. R V Raja Kumar,
Former Vice-Chancellor,
Rajiv Gandhi University of Knowledge Technologies.

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“The most pathetic person in the world is some one who has sight but no vision.” ― Helen Keller




Exploring the Wisdom of Crowds

The Aspiring Researcher Challenge Feb 2015 - May 2015



Advisor
Sharad Goel
,
Stanford Management Science and Engineering


Abstract

      At a 1906 county fair, the statistician Francis Galton watched as eight hundred people competed to guess the weight of an ox. He famously observed that the median of the guesses, 1207 pounds, was within 1% of the true weight. Since then, this "wisdom of the crowd" effect has been documented in a variety of domains, ranging from trivia questions to combinatorial optimization. Yet, perhaps surprisingly, we have little understanding of why, or even when, the phenomenon holds.
      Main objective of the project is to leverage the wisdom of the crowd to systematically investigate the wisdom of crowds. A large online experiment would be developed where modules are created to study the wisdom of the crowd in a specific domain.


More information : Github-Wisdom of Crowds




LVP-MITRA Fellowship
Awarded by MIT Media Lab and L.V. Prasad Eye Institute October 2014



Smiley face

~ Developed image processing algorithm to detect and track the contraction and dilation of pupil as per the intensity of light focused on it.









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