Autonomous Warehouse Inspection (Turtlebot3, ROS2 Nav2)
Built an autonomous warehouse inspection module using Cartographer mapping and Nav2 path planning. Created a custom warehouse with ArUco ‘defect’ tags and reported abnormalities to the operator.
C++ROS2Nav2Cartographer
Human Detection & Tracking (YOLOv3 + OpenCV)
Implemented human detection and tracking with YOLOv3 and OpenCV. Added NMS post‑processing and localized detections in the robot frame; CI with AIP/test‑driven methods.
C++OpenCVYOLOv3
Monocular Visual SLAM
Achieved SLAM with a monocular camera. Calibrated via Zhang’s technique; used ORB features and bundle adjustment to estimate camera pose and depth.
PythonSLAMORBCalibration
8×3 Puzzle Solver (BFS)
Programmed BFS with backtracking via parent/child relations; generated solution path and visualized it with NumPy.
PythonSearchBFS
Path Planning with Dijkstra
Implemented Dijkstra’s algorithm with semi‑algebraic obstacle models; visualized motion using OpenCV and computed optimal paths.
PythonOpenCVPlanning
Maze Solver (DFS, C++)
Navigated a maze with DFS using OOP design; leveraged stacks/vectors for efficient traversal and visualized the run in a simulator.
C++DFSOOP
Urban Search & Rescue (Multi‑Robot)
Coordinated two Turtlebots for exploration and victim rescue. Used ROS for communication and Move Base for navigation.
C++ROSGazeboRViz
4‑Wheeled Autonomous Robot (Raspberry Pi)
Integrated ultrasonic sensors and IMU on a Pi; implemented perception/avoidance in OpenCV and a framework for localization.
PythonOpenCVROS
Delivery Robot Simulation (RRT*)
Simulated multi‑stop delivery on Turtlebot with RRT* and a custom Gazebo world; visualized half‑plane paths with RViz.
PythonRRT*GazeboRVizROS
Fetch Mobile Manipulator (MoveIt)
Planned motion for a 7‑DoF manipulator; validated IK/FK and achieved ~40% faster pick‑and‑place cycles in simulation.
PythonMoveItRVizROS
Malaria Detection (ResNet)
Trained ResNet variants (18/34/50) in PyTorch with augmentation, dropout and L2 regularization; reached ~96% test accuracy.
PyTorchCUDAResNet
AR Tag Detection & Overlay
Detected AprilTags via homography and bit‑level orientation; applied morphological filtering and overlaid custom images onto tags.
OpenCVHomographyAprilTag
