Estimation of Appearance of a scene increases the accuracy of Bird's Eye View (BEV) representation of the scene.
Visual Place Recognition algorithm to detect places from 180 degree opposite viewpoints, using a novel idea to localize based on floor signatures.
Used semantics understanding to assist loop closure detection and localization in SLAM framework in challenging warehouse environment. Incorporated topological edges in a pose graph optimization.
Implementation of PCA algorithms for image compression using C++/Cuda and parallel Monte Carlo algorithm using OpenMP and MPI from scratch
Implementation of common robotics algorithms like Bundle Adjustment, Visual Odometry, Stereo Reconstruction and EKF from scratch