Virtual Graffiti Using Image Projection

Table of Contents Project Overview In this programming assignment, I use the concepts of projective geometry and homographies to project an image onto a scene in a natural way that respects perspective. To demonstrate this, I will project graffiti artwork made by the famous artist Banksy onto the side wall of the FAMU-FSU College of … Read more

2D Quadrotor Control Through Reinforcement Learning

Table of Contents Project Overview In this project, I created a deep deterministic policy gradient (DDPG) reinforcement learning agent in Tensorflow to learn the dynamics of a two-dimensional drone. This project is an example of model-free RL since the agent has no knowledge of the drone’s kinematics or dynamics. I created my own OpenAI Gym … Read more

Stereo Image Rectification

Table of Contents Project Overview Stereo vision refers to processing of images from two cameras that are placed relative to each other at a known configuration. The two separate but similar views obtained from each individual camera can be used to compare pixels in both images and triangulate the scene’s depth. Stereo image rectification projects … Read more

Quadrotor – Dynamical Modelling and Control

Table of Contents Project Overview In this project, the non-linear dynamics of a quad-rotor drone are linearized about an equilibrium point (stable hover configuration). Feedback control is then applied to achieve the desired reference trajectories. The goals of this project are to: Model and simulate the dynamics of a 6 DOF quad-rotor drone. Apply LQG … Read more