Developing a robust target tracker.Optimisation.[TensorRT]

Designed and developed the perception and guidance submodules for vision based quadcopter. Implemented driver for gimbal payload for real time visual servoing and other communication abstractions for submodules. Implemented communication encoder and decoder (Application layer) to the Ground control station. Responsible for integration and testing.

Worked on Kinematic State Estimation of flying targets using interacting mutiple model EKF.

Worked on dense 3D reconstruction of scene using stereo cameras. [ calibration, rectification , stereo correspondence and reprojection]Working on point cloud segmentation , clustering for identifying obstacles in 3D space.Worked on precision landing of drone using Aruco Markers and achieved a accuracy of 10cm within target.Made changes to ardupilot firmware to perform yaw correction while landing.

Worked on Human Activity Recognition [IVA] using keypoints outputted by OpenPose . Trained a LSTM network to capture sequence variations for 7 class classification.