Kishore Pochiraju

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The development of a relatively low cost mobile 3D mapping robot prototype named ROAMS (Remotely Operated and Autonomous Mappings Systems) which enables rapid generation of high resolution 3D maps of indoor/outdoor environments is presented. The Robotic system generates 3D maps using a video registered Lidar scanning system integrated with a multiple degree(More)
This paper presents methodologies to accelerate the registration of 3D point cloud segments by using hue data from the associated imagery. The proposed variant of the Iterative Closest Point (ICP) algorithm combines both normalized point range data and weighted hue value calculated from RGB data of an image registered 3D point cloud. A k-d tree based(More)
Light Detection and Ranging (LIDAR) scans are increasingly being used for 3D map construction and reverse engineering. The utility and benefit of the processed data maybe enhanced if the objects and geometry of the area scanned can be segmented and labeled. In this paper, we present techniques to model the intensity of the laser reflection return from a(More)
Kinematic and neuromuscular synergies have been found in numerous aspects of human motion. This study aims to determine how effectively kinematic synergies in bilateral upper arm movements can be used to replicate complex activities of daily living (ADL) tasks using a sparse optimization algorithm. Ten right-handed subjects executed 18 rapid and 11(More)
In this paper, the concept of replacing the standard wheel, which is used by most ground vehicles today, by a spherical ball drive system is explored. The aim is to develop a practical and agile omnidirectional mobility platform which can especially be useful for applications related to mobile ground robotics. The paper discusses some of the advantages and(More)
Many applications require dimensionally accurate and detailed maps of the environment. Mobile mapping devices with laser ranging devices can generate highly detailed and dimensionally accurate coordinate data in the form of point clouds. Point clouds represent scenes with numerous discrete coordinate samples obtained about a relative reference frame defined(More)
Current Monocular Simultaneous Localization and Mapping (MonoSLAM) methodologies use constant velocity and smooth motion assumptions. If the motion consists of rapid accelerations, decelerations or stops, the position estimates become erroneous and unstable. Mobile robots require frequent stops due to mission dictated or safety reasons. With the objective(More)
Cyber Physical Systems (CPS) are increasingly required to address sophisticated and complex set of stakeholder, security, regulatory policy and physical requirements. CPS employ numerous and interacting software, hardware, control and communication sub-systems that collectively address the system requirements. This paper describes a methodology that applies(More)