Monocular Visual Odometry (Rust)

• Monocular visual odometry implementation based on blog post
• The implementation is done is Rust.
• Used Kitti dataset for experiment.
• Git Repository

DAC SDC 2022 - 4th Place (UBPercept)

• DAC System Design Contest 2022 (June 2022) - 4th place [UBPercept] Results

  Contirbution

  • Led the team of 7 and contributed towards initial investigation and implementation.
  • Worked in a team to create plan for CNN training and deployment to FPGA (Ultra96V2)
  • Major contribution in automating the deployment and result analysis for fast and efficient experiments.

Cleaner Bot

Cleaner bot path simulation aims to solve a problem statement of path planning for a robot in 2 dimensional to compeltely cover entire available and unknown space. The challenge was to plan the path of robot in unknown space.
JS implementation can be found here

Cleaner bot is a simple implementation of fixed size unknown enviroment exploration algorithm.

BNF and EBNF Grammer Parser

• Implemented Extended Backus-Naur Form grammer parser from scratch.
• Following is a sample grammer that can be parsed using this implementation:

  S := ‘Hello’ | ‘Hi’ P | P | ‘bye’
  P := ‘World’ | ‘Everyone’ | ‘[A-Za-z0-9]+ ‘ | ‘a’

• Developed in Python.
• Git Repository

Self Dirving Car - using Reinforcement Learning

• Implementation an Agent to learn to get from start to goal position, given 2D map with road.
• The Agent is support to follow the Road towards the goal position, and getting the highest reward.
• Developed in Python, using Pytorch and Kivy for UI.
• Git Repository