Faculty Publications
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Publications by NITK Faculty
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Item Parallel implementation of 3D modelling of indoor environment using Microsoft Kinect sensor(2013) Manojkumar, P.; Guddeti, G.3D visual modelling of indoor space will not only provide the detailed knowledge about the environment but also rich contextual information of the existing objects. In this paper, we propose a parallel implementation of 3D modelling of indoor environment using Microsoft Kinect depth camera. 3D maps are generated by Simultaneous Localization And Mapping [SLAM] technique. These 3-D maps will be more useful in Context aware and in Robotics applications. Iterative Closest Point [ICP] with initial guess by RANSAC is used for pair alignment. Many tasks of pair registration are parallelised using OpenMP and the performance evaluation of both sequential and parallel implementations are compared. Simulation results demonstrate that OpenMP based parallel implementation has achieved a speedup factor of 3.7. © 2013 IEEE.Item Simulation of Indoor Localization and Navigation of Turtlebot 3 using Real Time Object Detection(Institute of Electrical and Electronics Engineers Inc., 2021) Nandkumar, C.; Shukla, P.; Varma, V.This paper proposes a method for indoor localization and navigation of Turtlebot 3 using Real Time Object Detection (RTOD). The robot is capable of recognizing the room it is placed inside based on the knowledge of positions of certain fixed arbitrary objects. The robot then proceeds to understand its position inside the room and is capable of moving to other locations. The robot is simulated using the ROS and Gazebo framework. The RTOD is trained to identify certain distinct objects like a rover, bowl, quadcopter and wheel based on which the robot is able to ascertain its location. © 2021 IEEE.Item Development of an Intuitive Autonomous Ground Robot for Indoor Delivery Applications(Springer Science and Business Media Deutschland GmbH, 2025) Peter, J.; Thomas, M.J.; Gokulkrishna, S.; Cholappally, K.; Santhakumar, S.Efficient and reliable parcel delivery services are always desired in different sectors such as hospitals, offices, industries and households. One promising solution to meet, this need is the application of Autonomous Mobile Robots (AMRs) capable of navigating complex indoor environments to deliver packages and goods. Generally, AMRs are used for the last-mile delivery of parcels. The end users of such robots have different skill sets, and the robot must have a simple user interface to ensure easy usability. This paper presents an AMR with an intuitive Graphic User Interface (GUI) and aesthetic design. It is enough for the end user to define the goal locations on the resulting map shown on the robot screen. The AMR will autonomously navigate to the given goal location. Besides, the effectiveness of sensor fusion and a comparative study of various combinations of sensor fusion are also described in this paper. In addition, the application of LiDAR odometry and its performance is also analyzed in this paper. The primary objective of this study is to identify an approach that improves the AMR’s tracking accuracy and makes it suitable for dynamic work environments. This paper describes the development of an AMR for last-mile delivery purposes, and its proof of concept is evaluated on the fabricated prototype. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.