/zeelbhatt.github.io

I am an MS Robotics student at Arizona state university. I do research in machine learning with focus on 3D vision and robotics. My masters thesis is in learning based Visual Odometry. My research is driven by a more abstract interest in shape understanding at both the structural and semantic levels.

Technical Skills: Python, C++, Ceres, g2o, PyTorch, OpenCV, ROS/ROS2

Education

  • M.S., Robotics | Arizona State University
  • B.Tech., Electronics and communication | SRM University

Work Experience

Researcher @ Active Perception Group (April 2023 - Present)

  • Designing un-supervised learning based architechurre for monocular visual odometry on KITTI dataset.

Summer Intern @ HiMER Lab (October 2022 - July 2023)

  • Implementation of robot teleoperation through Vertual Reality. This study also includes literature review of psychological factors involving human comfort, transparency, efficient communication and reconfigurability.

Projects

SLAM mission and autonomous landing

slamProj

Crreating a 3D pointmap of a rocky mountain using ORB-SLAM. while autonomously navigating and landing on the mocing rover using optical flow (Concepts: ORB-SLAM, ROS, Gazebo Simulation, Optical flow) View Code

Bundle Adjustment using C++ Ceres Library

blendingProj See blog-post I have written a detail article about Camera calinration and bundle Adjustment View Code

Image signal processing

fourierProj Implementation of low-pass filter, high-pass filter on the images, Phase swapping of two images See blog-post

Image generation - multiresolution blending

blendingProj

Generation of Gaussian pyramid and Laplcian pyramid as a basic encoder decoder model

Adeversarial generative networks

Project Implemented a Deep Convolutional Generative Adversarial Network (DCGAN) model for image generation as described in Goodfellow’s paper, showcasing proficiency in deep learning and computer vision. (Implementation of Min-Max adversarial loss funtion) View Code

LQR Controller to balance the inverted pendulmn

Project Name Balancing an inverted pendulum by programming an LQR controller. Design of a controller by checking observabilty matrix, kalman filtering, and finally checking the controllability of the designed system. View Code

View PDF

Blog-posts

Image Fourier Transform

Alt Text

Publication

IROS 2018 https://ieeexplore.ieee.org/document/8594129 M. Harikrishnan Nair, T. Ghanshyam Singh, G. Chourasia, A. Das, A. Shrivastava and Z. S. Bhatt, "Flamen 7 DOF robotic Arm to Manipulate a Spanish Fan," 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018, pp. 4152-4157, DOI: 10.1109/IROS.2018.8594129.

https://ieeexplore.ieee.org/abstract/document/8991313 Chourasia, Gunjan, et al. "7-dof robotic manipulator for autonomous segregation using transfer learning." 2019 6th International Conference on Computing for Sustainable Global Development (INDIACom). IEEE, 2019.