Ravi Kaushik

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Studies of primate locomotion have shown that the head and eyes are stabilized in space through the vestibulo-collic and vestibulo ocular reflexes (VCR, VOR). The VOR is a reflex eye movement control system that stabilizes the image on the retina of the eye during head movements in space. This stabilization helps maintain objects of interest approximately(More)
During quadrupedal robot locomotion, there is pitch, yaw, and roll of the head and body due to the stepping. The head motion adversely affects visual sensors embedded in the robot's head. Mammals stabilize the head using a vestibulocollic reflex that detects linear and rotational acceleration. In this paper we describe the use of a machine learning(More)
This paper presents a novel algorithm to cluster planar points and extract polygons from 3D range images acquired in an indoor environment. The algorithm replaces large number of data points in the range image with polygons that fits the planar regions of the indoor environment resulting in high data compression. The 3D range image is acquired by panning a(More)
This paper presents a novel technique to register a set of two 3D laser scans obtained from a ground robot and a wall-climbing robot which operates on the ceiling to construct a complete map of the indoor environment. Traditional laser scan registration methods like the Iterative Closest Point (ICP) algorithm will not converge to a global minimum without a(More)
An RGB-D camera is a sensor which outputs the distances to objects in a scene in addition to their RGB color. Recent technological advances in this area have introduced affordable devices in the robotics community. In this paper, we present a real-time feature extraction and pose estimation technique using the data from a single RGB-D camera. First, a set(More)
This paper presents an algorithm to register two laser scans acquired by dual heterogeneous robots in a structured indoor environment. The dual robot system consists of a ground robot and a wall climbing robot equipped with a 3D range scanner and a perspective camera. Both robots alternately step in tandem and stop to acquire a panoramic range image. At(More)
The angular vestibulo-ocular and opto-kinetic reflexes (aVOR and OKR) combine to provide compensation for head rotations in space to help maintain a steady image on the retina. We previously implemented an artificial angular vestibulo-ocular reflex with a fully articulated binocular control system in a quadruped robot head. In this paper, we describe the(More)