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 [...]

Posted on May 10, 2009, tagged Player RIT Robotics, 3 comments, [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 = 1

Lmax = 1000

Lmax = 10000
Final Code
The raytracer is currently open [...]

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 [...]

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 [...]

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 [...]

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 [...]

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

This is a homework assignment for Mobile Robot Programming.
A probabilistic map is built for a simulated pioneer robot using 8 sonar sensors. The sensor model used was just a really simple condition based model. However, more complicated model can be plugged in to deal with noise in the real world. I enjoyed watching the map [...]

Posted on Apr 10, 2009, tagged RIT Robotics, 2 comments, [permalink]

Procedural Shading
Using the program from Checkpoint #3 (without extras), the task for this assignment is to add procedural shading to the ray tracer.

Another procedural shading pattern using sine waves (Extra):

Texture mapping (Extra):

Posted on Apr 08, 2009, tagged Ray Tracer RIT RITCG2, one comment, [permalink]