Projects

Monocular Depth Estimation Mapping with Depth Anything V2

SLAM
C++
ROS
Computer Vision
3D Reconstruction
This is a demonstration of the MDE mapping pipeline on a dataset collected at the NYU Tandon campus at Brooklyn Commons. The pipeline is using Depth Anything V2 to generate…
Jan 1, 2025
Suraj Kiron Nair

Virtual Maze Exploration and Navigation

SLAM
Computer Vision
Visual Odometry
Python
Localization
For this project, the task was to explore a maze of images, mapping the environment as we navigated. Once the map was complete, we were given four target images, and the…
Jul 20, 2024
Suraj Kiron Nair

L1 Augmented Geometric Controller

c++
ROS
Control Systems
Aerial robots are required to remain operational even in the event of system disturbances, damages, or failures to ensure resilient and robust task completion and safety.…
Jul 9, 2024
Suraj Nair

SCARA Manipulator: Kinematic Control Part II

Manipulators
Control Systems
MATLAB
This project will cover the following topics:
1. Second Order inverse differential kinematics of a Scara robotic Arm
2. Obstacle Avoidance by maximizing distance between…
Jun 26, 2024
Suraj Kiron Nair

SCARA Manipulator: Kinematic Control Part I

Manipulators
Control Systems
MATLAB
This project will cover the following topics:
1. Deriving Forward kinematics using DH Parmamertization of a robotic Arm
2. Forward Differential Kinematics
3. Inverse…
Jun 25, 2024
Suraj Kiron Nair

State Estimation with Unscented Kalman Filter

State Estimation
Localization
MATLAB
In this project, I develop an Unscented Kalman Filter (UKF) to fuse the inertial data already used in project 1 and the vision-based pose and velocity estimation developed…
May 20, 2023
Suraj Kiron Nair

Vision Based Pose and Velocity Estimation

Computer Vision
Localization
MATLAB
This project is composed of 2 parts. In part one we have to determine the position and orientation of a quadrotor flying over a Mat of April Tags. For the second part, I…
Mar 5, 2023
Suraj Kiron Nair

State Estimation with Extended Kalman Filter

Localization
MATLAB
In this project I use a Extended Kalman Filter to Localize a quadrotor. I use the body frame acceleration and angular velocity from the onboard IMU as your control inputs.…
Feb 26, 2023
Suraj Kiron Nair

Race Circuit Line Follower

Control Systems
Computer Vision
Python
The goal of this project was to perform a PID reactive control capable of following the line painted on a racing circuit. PID control is one of the fundamental concepts of…
Nov 30, 2022
Suraj Kiron Nair

Welcome To My Blog

This is the first blog post. Welcome!
Aug 17, 2022
Suraj K Nair
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