Gurjashan SinghPannu

Bio: Gurjashan SinghPannu is an academic researcher. The author has contributed to research in topics: Monocular vision. The author has an hindex of 1, co-authored 1 publications receiving 50 citations.

Design and Implementation of Autonomous Car using Raspberry Pi

Abstract: The project aims to build a monocular vision autonomous car prototype using Raspberry Pi as a processing chip. An HD camera along with an ultrasonic sensor is used to provide necessary data from the real world to the car. The car is capable of reaching the given destination safely and intelligently thus avoiding the risk of human errors. Many existing algorithms like lane detection, obstacle detection are combined together to provide the necessary control to the car.

IoT Implementation of Kalman Filter to Improve Accuracy of Air Quality Monitoring and Prediction

Abstract: In order to obtain high-accuracy measurements, traditional air quality monitoring and prediction systems adopt high-accuracy sensors. However, high-accuracy sensors are accompanied with high cost, which cannot be widely promoted in Internet of Things (IoT) with many sensor nodes. In this paper, we propose a low-cost air quality monitoring and real-time prediction system based on IoT and edge computing, which reduces IoT applications dependence on cloud computing. Raspberry Pi with computing power, as an edge device, runs the Kalman Filter (KF) algorithm, which improves the accuracy of low-cost sensors by 27% on the edge side. Based on the KF algorithm, our proposed system achieves the immediate prediction of the concentration of six air pollutants such as SO2, NO2 and PM2.5 by combining the observations with errors. In the comparison experiments with three common predicted algorithms including Simple Moving Average, Exponentially Weighted Moving Average and Autoregressive Integrated Moving Average, the KF algorithm can obtain the optimal prediction results, and root-mean-square error decreases by 68.3% on average. Taken together, the results of the study indicate that our proposed system, combining edge computing and IoT, can be promoted in smart agriculture.

Working model of Self-driving car using Convolutional Neural Network, Raspberry Pi and Arduino

Abstract: The evolution of Artificial Intelligence has served as the catalyst in the field of technology. We can now develop things which was once just an imagination. One of such creation is the birth of self-driving car. Days have come where one can do their work or even sleep in the car and without even touching the steering wheel, accelerator you will still be able to reach your target destination safely. This paper proposes a working model of self-driving car which is capable of driving from one location to the other or to say on different types of tracks such as curved tracks, straight tracks and straight followed by curved tracks. A camera module is mounted over the top of the car along with Raspberry Pi sends the images from real world to the Convolutional Neural Network which then predicts one of the following directions. i.e. right, left, forward or stop which is then followed by sending a signal from the Arduino to the controller of the remote controlled car and as a result of it the car moves in the desired direction without any human intervention.

Real-time Vision-based Depth Reconstruction with NVidia Jetson

Abstract: Vision-based depth reconstruction is a challenging problem extensively studied in computer vision but still lacking universal solution. Reconstructing depth from single image is particularly valuable to mobile robotics as it can be embedded to the modern vision-based simultaneous localization and mapping (vSLAM) methods providing them with the metric information needed to construct accurate maps in real scale. Typically, depth reconstruction is done nowadays via fully-convolutional neural networks (FCNNs). In this work we experiment with several FCNN architectures and introduce a few enhancements aimed at increasing both the effectiveness and the efficiency of the inference. We experimentally determine the solution that provides the best performance/accuracy tradeoff and is able to run on NVidia Jetson with the framerates exceeding 16FPS for 320 × 240 input. We also evaluate the suggested models by conducting monocular vSLAM of unknown indoor environment on NVidia Jetson TX2 in real-time. Open-source implementation of the models and the inference node for Robot Operating System (ROS) are available at https://github.com/CnnDepth/tx2_fcnn_node.