Karnik Ram

Hello! I am a graduate research assistant in the Robotics Research Centre at IIIT - Hyderabad, working under the advisorship of Dr. K. Madhava Krishna. I like to work at the intersection of robotics and computer vision, with a focus on perception for autonomous vehicles.

I completed my bachelor's in Electronics and Communication Engineering at SSN College of Engineering, Anna University in May 2017. In the past, I've had the opportunity to spend time as a computer vision intern at Navstik Labs and Healthcare Technology Innovation Centre.

Email | Resume | Github | LinkedIn | Blog

Research

Automatic LiDAR-Camera Extrinsic Calibration
Ganesh Iyer, Karnik Ram, Krishna Murthy, KM Krishna  |  Spring 2018 Accepted for Oral presentation at IROS 2018.

We developed a self-supervised deep network, CalibNet, capable of automatically estimating the 6-DoF rigid body transformation between a 3D LiDAR and a 2D camera in real-time. The network alleviates the need for any calibration targets, thereby reducing significant calibration efforts.

Preprint | Video
Projects

Direct Dense Image Registration
Karnik Ram, Krishna Murthy  |  Fall 2017

Estimated the camera motion between two frames by minimizing the photometric error between them. Implemented in matlab using a vanilla Levenberg-Marquardt non-linear least squares (approx.) solver.

Results | Code

Motion-based Camera-IMU Extrinsic Calibration
Karnik Ram, Kunal Chelani  |  Fall 2017

Implemented a pipeline to estimate the rigid body pose between an IMU and a camera by applying the Kabsch algorithm to their motion estimates. Based on Zachary Taylor and Juan Nieto's work on Motion-Based Calibration of Multimodal Sensor Arrays.

Report | Code

Automated Stock Counting Using a Quadcopter
Karnik Ram, Harish S, Apeksha Avinash  |  Winter 2016

Developed a visual odometry module based on optic flow for the localization of a custom-built quadcopter and incorporated it into the PX4 navigation stack, enabling autonomous indoor navigation. All the computations were performed on-board, on an Odroid XU4. A stock counting module was implemented using ArUco markers.

Report | Code

Motion Capture using a Kinect
Karnik Ram  |  Fall 2016

Used SimpleOpenNI to track body joint angles and mapped it to a model in blender. This was developed as a part of a body posture tracking project during my time as an intern at HTIC.

Code | Video

Person Tracking for a Drone
Karnik Ram  |  Summer 2016

Developed and evaluated a person tracking application for a drone using a CUDA accelerated monocular HOG detector, and another using disparity maps generated from a custom stereo rig. Both were tested on a Jetson TX1. This was developed during my time as an intern at Navstik Labs.

Visual Servoing of a Mobile Robot
Karnik Ram, Yash Oza  |  Spring 2016

Developed a simple navigation stack for controlling the motion of a differential drive mobile robot using visual feed-back from an overhead camera. The stack consisted of a color based localization module and a PID controller for issuing steering commands to the motors.

Code | Video

Low-Cost Flight Controller for a Quadcopter
Karnik Ram, Harish S, Aadithya V, Ashwin V, Harshwardhan  |  Fall 2015

Built and programmed a flight controller for stabilizing a custom built quadcopter, using the ATmega328. Utilized interrupt service routines, I2C comm, PWM and PID rate control loops.

Code

Seglio
Karnik Ram, Shankar S, Prashanth TV  |  Summer 2015

Developed an Android app that enabled students to share their course textbooks among each other easily. This app has got close to a thousand installations and has also been featured in a prominent weekly magazine, and in the top 10 of the Apps for Chennai contest.

Code | Store | Press | Press

The SSN App
Karnik Ram, Adithya J, Varun R, Muthu CT  |  Winter 2014

Ideated and developed an Android application to notify students and faculty about important events, announcements and other campus related information like bus routes and dining menus. It has close to two thousand users today and is the official app of SSN.

Code | Store | Appreciation

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Last updated: Aug, 2018