Kishore Pochiraju

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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)
In this paper, we present an embedded knowledge-base system and apply it to estimate the manufacturing cost of molded parts. This system is designed on a tiny single board computer, called the “GumstixTM”, which is an inexpensive and high-performance miniaturized platform. It consists of a knowledge-base, knowledge processing units and server service unit(More)
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)
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)
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)
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)
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)
The "workplace" for engineering is increasingly at the interface of three environments: the virtual environment, in which designs can be created and explored, with activities that range from interaction via the Internet to 3D visualization and immersion in alternative designs of engineered systems; the product realization environment, in which physical(More)
The development of a peer-to-peer virtual instrumentation system for remote acquisition, analysis and transmission of data on low bandwidth networks is described. The objective of this system is to collect high frequency/high bandwidth data from multiple sensors placed at remote locations and adaptively adjust the resolution of this data so that it can be(More)