Teaching

Guest Lecturer/Teaching Assistant

CMSC477: Robotics Perception and Planning

Spring 2023

This is an advanced undergraduate course that teaches students the mathematical foundations of computer vision, planning, control in a hetrogenous robot system. This course is designed and co-taught by me and Yiannis Aloimonos. The course is designed to balance theory with an application on hardware.

The entire course is open-source! The projects and the course material will be updated below:

Instructor

ENAE788M: Hands On Autonomous Aerial Robotics

Fall 2019

This is an advanced graduate course that exposes the students with mathematical foundations of computer vision, planning and control for aerial robots. This course was designed and taught by me and Nitin J. Sanket. The course is designed to balance theory with an application on hardware.

The entire course is open-source! The links to video lectures and projects are given below:

Teaching Assistant

CMSC733: Computer Processing of Pictorial Information

(Instructor: Prof. Yiannis Aloimonos)

Spring 2020 | Spring 2019

CMSC 733 is an advanced graduate course on classical and deep learning approaches for geometric computer vision and computational photography which explores through image formation, visual features, image segmentation, recognition, motion estimation and 3D point clouds. We redesigned this course to showcase how to model classical 3D geometry problems using Deep Learning!

The entire course is open-source! The link to projects and student outputs are given below:

Teaching Assistant

CMSC426: Computer Vision

(Instructor: Prof. Yiannis Aloimonos)

Fall 2020 | Fall 2019 | Fall 2018

CMSC 426 is an introductory course on computer vision and computational photography that explores image formation, image features, image segmentation, image stitching, image recognition, motion estimation, and visual SLAM.

The entire course is open-source! The link to projects and student outputs are given below:

Research

NudgeSeg: Zero-Shot Object Segmentation by Repeated Physical Interaction

IROS 2021

Chahat Deep Singh*, Nitin J. Sanket*, Cornelia Fermuller, Yiannis Aloimonos, IEEE International Conference on Intelligent Robots and Systems (IROS), 2021.
* Equal Contribution

 UMD    Paper    Project Page    Code    UMD    Cite  

EVPropNet: Detecting Drones By Finding Propellers For Mid-Air Landing And Following

RSS 2021

Nitin J. Sanket, Chahat Deep Singh, Chethan M. Parameshwara, Cornelia Fermuller, Guido C.H.E. de Croon, Yiannis Aloimonos, Robotics Science and Systems (RSS), 2021.

 UMD  

MorphEyes: Variable Baseline Stereo For Quadrotor Navigation

ICRA 2021

Nitin J. Sanket, Chahat Deep Singh, Varun Asthana, Cornelia Fermuller, Yiannis Aloimonos, IEEE International Conference on Robotics and Automation (ICRA) , 2021.

 Paper    Project Page    Code    UMD    Cite  

PRGFlow: Benchmarking SWAP-Aware Unified Deep Visual Inertial Odometry

T-RO 2020

Nitin J. Sanket, Chahat Deep Singh, Cornelia Fermuller, Yiannis Aloimonos, IEEE Transactions on Robotics (Under Review), 2020.

 Paper    Project Page    Code    UMD    Cite  

0-MMS: Zero-Shot Multi-Motion Segmentation With A Monocular Event Camera

ICRA 2021

Chethan M. Parameshwara, Nitin J. Sanket, Chahat Deep Singh, Cornelia Fermuller, Yiannis Aloimonos, IEEE International Conference on Robotics and Automation (ICRA), 2021.

 Paper    Project Page    UMD    Cite  

EVDodgeNet: Deep Dynamic Obstacle Dodging with Event Cameras

ICRA 2020

Nitin J. Sanket*, Chethan M. Parameshwara*, Chahat Deep Singh, Cornelia Fermuller, Davide Scaramuzza, Yiannis Aloimonos, IEEE International Confernce on Robotics and Automation, Paris, 2020.
* Equal Contribution

 Paper    Project Page    Code    UMD    Cite  

GapFlyt: Active Vision Based Minimalist Structure-less Gap Detection For Quadrotor Flight

RA-L 2018 | IROS 2018

Chahat Deep Singh*, Nitin J. Sanket*, Kanishka Ganguly, Cornelia Fermuller, Yiannis Aloimonos, IEEE Robotics and Automation Letters, 2018.
* Equal Contribution

Project Page  Paper  Video  Cite 

Video Tutorials

Quadrotor Hardware

This class talks about how generic quadrotor hardware is designed for an autonomous flight.

Quadrotor Dynamics

In this lecture, we'll learn the mathematical derivation of the Newtonian Mechanics for a quadrotor and how it is affected by thrust, mass distribution, etc.

Quadrotor Controls

In this lecture, we'll learn about how the quadrotor inner loop and trajectory controller is written.

Fundamentals of Image Processing

This lecture deals with how images are processed digitally to aid in detection and navigation tasks for quadrotors.

Features in Computer Vision

This video talks about the fundamental building blocks in computer vision: features!

Camera Models

This video talks about camera models in the computer vision.

Projective Transformations

In this lecture, we learn various types of 2D and 3D transformations applied on the image plane.

Structure from Motion I: Epipolar Geometry

This lectures deals with solving the problem of structure from motion and how epipoles can be helpful.

Structure from Motion II

This deals with Perpective-n-Point problem and Bundle Adjustment.

Optical Flow

This video lecture deals with the pattern of motion of objects, surfaces and edges in the image.

Stereopsis

We learn about the pattern of apparent motion of objects, surfaces in a scene caused by the relative motion between camera and objects.

Introduction to Deep Learning

This lectures gives a brief overview of deep learning and its applications in Computer Vision.

Portfolio

My Works

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Services

Peer Review


  • RA-L IEEE Robotics and Automation Letters
  • ICRA International Conference on Robotics and Automation
  • IROS International Conference on Intelligent Robots and Systems
  • CVPR Conference on Computer Vision and Pattern Recognition
  • ICCV International Conference on Computer Vision
  • RSS Robotics Science and Systems
  • TVCJ The Visual Computer Journal, Springer

Contact

Contact Me

My Address

A108 Adam Street, New York, NY 535022

Social Profiles

Email Me

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Call Me

+1 5589 55488 55

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