Just started this week at Microsoft as a summer intern.

My position is Software Development Engineer in the Core Networking Team of Core OS Division (COSD). Our team owns Windows Core Networking APIs and technologies such as Winsock, TCP/IP stack, WFP, IPsec, IPv6, WSK, WinINet, Http.sys, WinHttp, QoS, and System.Net. And my job for the summer is …

Posted on Jun 05, 2009, tagged Microsoft, [permalink]

Introduction

This project is an attempt to implement a 3D visualization of simultaneous localization and mapping (SLAM) based on raw sensor data provided by the Player robotics framework.

This project is useful for both research and application purposes. Visualization of SLAM in research can help robotists better debug their robots. It can also provide much more information for remote robot operation where …

Posted on May 18, 2009, tagged RIT RITCG2 RITCG2SLAM, one comment, [permalink]

This is the course project for Mobile Robot Programming with Professor Zack Butler.

The goal of this project is to create a program that controls a Pioneer robot to navigate on a floor and reach a list of waypoints in their given order. The robot will start at one of given 8 locations and has to localize itself based on sensor …

Posted on May 10, 2009, tagged Player RIT Robotics, [permalink]

Tone Reproduction

This is the final checkpoint for the raytracer project. The goal is simply to map produced images into real life luminance and compress them using different operations to produce film like effects.

Original picture:

Using Ward’s operator:

Lmax = 1

Lmax = 1000

Lmax = 10000

Using Reinhard’s operator

Lmax = …

Posted on May 06, 2009, tagged RIT RITCG2, one comment, [permalink]

Professor Bailey and I exhibited the head tracking display in the field house during Imagine RIT 2009.

I first started the head tracking display project as a course project for my computer graphics I class. It used to be simply a OpenCV head tracking sample code + some OpenGL. After a few weeks’ work, in preparation for the Imagine RIT festival, …

Posted on May 05, 2009, tagged 3D C/C++ Head Tracking OpenCV OpenGL, [permalink]

Transmission

At the intersection point, in addition to the reflection ray and the shadow ray, you must follow the transmission ray (through the intersected object) to determine its color contribution to the intersection point.

Use an index of refraction of 1.0 for the air around your objects.

The transmission ray moves into the object from the original intersection point, refracted according to …

Posted on Apr 28, 2009, tagged RIT RITCG2, [permalink]

Reflection

At the intersection point, you’ll need to obtain the reflection ray in addition to the shadow ray, and to follow the reflection ray to determine its color contribution to the intersection point. Note that the reflected ray is the reflection of the incoming ray (from the camera, or another reflected ray spawned from an earlier object intersection for the second/third/etc. …

Posted on Apr 22, 2009, tagged RIT RITCG2, [permalink]

Midquarter Update

What’s Been Done So Far
The SLAM tutorial papers have been investigated. A cheap/fast version of SLAM has been developed that calculates the robot’s current position based on previous estimates and built probabilistic map using Markov-based localization. Basically, it evaluates a bunch of random points around the previous location and score each location candidate by comparing the sensor reading and …

Posted on Apr 19, 2009, tagged RIT RITCG2 RITCG2SLAM, [permalink]