Winter 2008
Interactive Image Segmentation
Statistical Computer Vision
This project is based on Boykov & Jolly's "Interactive Graph Cuts for Optimal Boundary & Region Segmentation of Objects in N-D Images", ICCV, July 2001. The objective of the project is to implement the MRF model outlined in the paper and solve the optimization problem using an efficient implementation of max-flow min-cut algorithm by Yuri Boykov and Vladimir Kolmogorov. more
Wave Particles
Advanced Computer Graphics and Animation
This project is based on the paper "Wave Particles" by Cem Yuksel et al. published in SIGGRAPH 2007.
Fall 2007
Comparative Study of Probabilistic Cell Decomposition and Probabilistic Roadmap
Planning Algorithms
Implemented Probabilistic Cell
Decomposition and Probabilistic Roadmap methods and compared them using
different obstacles and workspace. Implementation was done using C++, and
OpenGL. Proximity Query Package (PQP) was used for performing collision
detection.
Classification of Face Images Based on Gender using Dimensionality Reduction Techniques and SVM
Machine Learning
Used dimensionality reduction techniques - PCA and ICA to project images onto low dimensional subspace and then classify using SVM. Experiments were carried out by varying training set size, normalization, histogram equalization and input data scaling. Matlab and LibSVM was used for this project.
Estimating Distance and Spatial Separation between Obstacles using Stereo Vision
Fundamentals of Computer Vision
Implemented an algorithm for estimating depth of obstacles by first determining the contour of the obstacles and then, determining the distance of those points from the stereo system.
Vision-based Line Following Robot
For this project, we developed differential drive mobile robot that can follow line. We used a webcam as the primary sensor. We also developed a line extraction algorithm using OpenCV and a control software that uses the data provided by the vision system and generate appropriate motor signals for controlling the robots motion. My contribution was in developing the control software. As the team lead, I also oversaw the mechanical and electrical aspects of the robot.
Robot Arm Controller
In this project, a 3DoF robot arm controller was developed. The user provides the source and destination location and the algorithm determines the shortest collision-free path from the source to the goal location. Finally, it sends stepper motor control signals to the actual robot arm via LPT port.
Online Motion Planning for Cooperative Multirobot System
I developed this as part of my undergraduate project work. The project is basically concerned with developing a distributed decentralized motion planner for cooperative multirobot system.
Network Monitoring Tool
This project was developed as part of Advanced Networking project. The tool captures packets from the network using WinPcap and analyzes the content of those data packet. From this perspective, it works like network packet capturing tools such as ethereal. However, the tool is also capable of detecting other packet capturing programs on the network. There are several ways of doing this. One approach is to send fake ARP requests which should be ignored by all the nodes except the one running a sniffer. Additionally, I have also implemented ARP cache poisoning feature to experiment how it works.
Port Scanner
This is a basic port scanner that was implemented using WinPcap. It works by sending SYN request packets and listening for ACK responses. Additionally, I’ve also implemented FIN based scanning. To avoid being blocked by firewalls, it sends packets in small chunks.