PROJECTS | Saharsh Agarwal

Scene Classification

Classical Approach with Bag of Visual Words - KNN, spatial pyramiding and TF-IDF. (SUN Database)

AR with Homography

Image Stitching and Video display on a book cover - using Planar Homography and RANSAC

Lucas-Kanade Tracking

Modified and Efficient LK motion tracking deployed (with mask creation and background subtraction)

CV@CMU

Computer Vision - Project Cluster

3D Reconstruction

Multiview and Epipolar Geometry to reconstruct 3D objects using 2D images.

Neural Networks: Recognition

Hand-coded forward and backward propagation for Character Recognition. Scene Recognition also performed

Photometric-Stereo Vision

No motion in the image. 3D reconstruction based on physics and change in lighting

Pipe Climber

1-Input 3-Output Mechanical Differential Pipe Crawler

The robot houses a novel mechanism for controlling 3 outputs with a single input, extending the 2-output differential concept. This eliminates the use of any active control of the 3 wheels/tracks.

The robot is orientation indifferent and successfully traverses pipe networks autonomously. The mechanism enables climbing against gravity and reduces slip and drag.

Flexible Pipe climber

Flexible Modular Pipe Climber

The robot has a novel design and mechanism used for negotiating a complex network of pipes - including angular bends and junctions.

The prototype is made autonomous - to carry the types of equipment for inspection and work independently in places where humans can't reach easily.

Aerial Manipulator

Aerial Manipulator

The quadcopter has a manipulator (arm-like) mechanism added to the base. RGB-D cameras are used for obstacle avoidance.

The dynamics of the drone are controlled such that it can pick and place objects. Also, the aim is to be able to do more complex tasks like open gates.

Robocon 2k18

Robocon 2018

Represented BITS Pilani at ABU National Robocon 2018 held in Pune, Maharashtra.

It was a 2 robot challenge - one manually controlled while the other was completely autonomous. I was the mechanical division head and the treasurer for the team.

IGCSP

Indo-German Challenge for Sustainable Production

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The project aimed to gather sensor data from the Festo Learning Factory (X-Line). It was then hosted live on the local server for the 'Life Cycle Analysing' Team to find out the carbon footprint of the product.

We were a team of 5, comprising students from different nations - the 'Data Acquisition and Visualization' Team

innav

Autonomous Mapping of Dark and Unknown Environment

The project aimed to propose a successful mapping alternative to known techniques of SLAM. It was made computationally less heavy and complex. It uses ROS Kinetic for control and simulation was done on Gazebo

A comparative study has been done with other mapping techniques. Since it is applied for a conference, not all details can be revealed yet. Once it is approved for 2D mapping, it will be extended to a 3D world.