The Institution of Engineers (India) Technical Department

The Institution of Engineers (India) R&D Grant-in-aid Scheme

Application Form
(All data are to be typed in Times New Roman Font 11 points)

REFERENCE NO. (To be provided by IEI) A. Project Title (in CAPITAL letters maxm. 150 characters):

SMART PHONE BASED APPLICATION FOR THE SIMULTANEOUS LOCALISATION AND MAPPING OF AN UNKNOWN ENVIRONMENT
B. Details of the Institution (in CAPITAL letters): Name: Address: Town / City State PIN CODE Name of Head of Institution Phone no. with STD code Fax no. with STD code

M. S. RAMAIAH INSTITUTE OF TECHNOLOGY VIDYA SOUDHA, MSRIT POST, MSR NAGAR BANGALORE KARNATAKA 5 6 0 0 5 4 DR. S. Y. KULKARNI 0 0 8 8 0 0 2 2 3 3 6 6 0 0 3 3 1 1 2 2 3 4

C. Particulars of Guide(s) [Maximum. 2 guides per project. The Principal Guides name should be placed in Sl. no.1.
Correspondence will be sent to the email of Principal Guide]:
Name Sl. Surname Department Gender (M/F)

G1 G2

SRINIVASA

KG

COMPUTER SCIENCE M

Continued......
Sl. Field of Specialisation Qualification Experience (Years)

G1 G2

COMPUTER SCIENCE

Ph. D

15

D. Particular of Student/(s) [The Principal Investigators name should be placed in Sl. no.1. Correspondence will be
sent to the email of Principal Investigator maximum 3 students per project]:
Sl. Name Surname Date of Birth (dd/mm/yyyy) Gender (M/F)

S1 S2 S3

ADITHYA SAI RAM PRASAD PRACHETH

VENKATESH REDDY S JAVALI

05/01/1993 15/09/1992 16/01/1993

M M M

Continued......
Sl. UG/PG /Ph.D

Department

Year of study

Completion date of study (dd/mm/yyyy)

Branch of research subject**

S1 S2 S3

UG UG UG

COMPUTER SCIENCE COMPUTER SCIENCE COMPUTER SCIENCE

3RD 3RD 3RD

16/06/2014 16/06/2014 16/06/2014

CT CT CT

**Choose from this list and write the corresponding codes mentioned within ( ): 1. Aerospace Engg. (AS), 2. Agricultural Engg. (AG), 3. Architectural Engg. (AR), 4. Chemical Engg (CH), 5. Civil Engg. (CV), 6. Computer Tech. (CT), 7. Electrical Engg (EL), 8. Electronics & Telecomm. Engg (ET), 9. Environmental Engg (EN), 10. Marine Engg (MR), 11. Mechanical Engg. (MC), 12. Metallurgy & Materials Engg. (MM), 13. Mining Engg. (MN), 14. Production Engg. (PR), 15. Textile Engg. (TX), E. Details of Published Papers in provide a two digit code for the same in the box ... 16. Others (Please write here and Journals / Conferences:

The Institution of Engineers (India) Technical Department

The Institution of Engineers (India) R&D Grant-in-aid Scheme
1)

By the Guide(s) [Please mention maxm 5 published papers in National & International Conferences and Peerreviewed journals) Sl. Title of Paper Authors Name of Journal / Conference Volume No. & Page no. (from-to)

A self-adaptive migration model genetic algorithm for data mining applications Feature Extraction using Fuzzy C Means Clustering for Data Mining Systems

IJCSNS International Vol 6 No 3A, 230Journal of Computer 236 Science and Network Security Dynamic Association Ruling using KG Srinivasa, KR Intelligent Data Vol 5 No 5/2005, Genetic Algorithms Venugopal, LM Analysis 439-453 Patnaik, Deepa Shenoy An efficient fuzzy based neuro KG Srinivasa, KR International Journal Vol 3 No 2/2006, genetic algorithm for stock market Venugopal, LM of Hybrid Intelligent 63-81 prediction Patnaik Systems Generic Feature Extraction for Classification using Fuzzy C Means Clustering K.G. Srinivasa, A. Singh, A.O. Thomas, K.R. Venugopal, L.M. Patnaik 2005 3rd International Conference on Intelligent Sensing and Information Processing 33-38

KG Srinivasa, KR Venugopal, LM Patnaik KG Srinivasa, KR Venugopal, LM Patnaik

ELSEVIER

Vol 177 Issue 20, 4295-4313

2) By the student(s) [Please mention maxm 3 published papers in National & International Conferences and
journals, if any) Sl. Title of Paper Authors Name of Journal / Conference Volume No. & Page no. (from-to)

1 2 3 F. Objectives of the proposed project (2000 characters)

Objective of the proposed project is to develop a methodology for real time three dimensional reconstruction of targeted volume (space) using a smart phone which can be deployed on any mobile object such as a robot or a Micro Air Vehicle (MAV). To fulfill this targeted goal, it is proposed to use Simultaneous Localization and Mapping (SLAM) protocol. Simultaneous localization and mapping (SLAM) is a technique used by robots and autonomous vehicles to build up a map within an unknown environment (without a priori knowledge), or to update a map within a known environment (with a priori knowledge from a given map),

while at the same time keeping track of their current location. The project team intends to develop a smart phone application for a specific platform such as Android, Windows etc., which can perform SLAM. Developing such a smart phone application for performing SLAM has the following advantages:
1. The application can run on many devices based on the platform for which it is

developed, making it hardware independent.

2. A smart phone is compact, yet powerful computational device containing camera,

location sensors making it suitable for SLAM.

G. Review of R&D in the proposed area (National & International Status, Importance, patents etc.) (3000 characters)

The simultaneous localization and mapping (SLAM) problem has been intensively studied in the robotics community in the past. SLAM can be implemented in many ways. First of all there is a huge amount of different hardware that can be used. Secondly SLAM is more like a concept than a single algorithm. There are many steps involved in SLAM and these different steps can be implemented using a number of different algorithms. International Status Patrick Robertson, Michael Anger Mann from the Institute for Communications and Navigation, German Aerospace Center recently described a new Bayesian estimation approach for simultaneous mapping and localization for pedestrians based on odometry with foot mounted inertial sensors. Their research established that when somebody walks within a constrained area such as a building, then even noisy and drift-prone odometry measurements can give us information about features like turns, doors, and walls, which we can use to build a form of a map of the explored area, especially when these features are revisited over time. Their initial results for their novel scheme which they call FootSLAM are very surprising in that true SLAM with stable relative positioning accuracy of 1-2 meters for pedestrians is indeed possible based on inertial sensors alone without any prior known building indoor layout. Furthermore, the 2D maps obtained even for just 10 minutes of walking converge to a good approximation of the true layout forming the basis for future automated collaborative mapping of buildings. National Status Professor S. Choudhury from Indian Institute of Technology, Kharagpur recently published a paper titled Fuzzy Landmark Detection in Simultaneous Localization and Mapping for

Agricultural Robots dealing with the problem of landmark detection for application of Simultaneous Localization and Mapping (SLAM) for agricultural robots. A new method of using a fuzzy rule base for fast evaluation of landmarks based on its measurement error, amount of dynamic nature, need for a landmark and evaluation time has been proposed in this paper.
H. Project Duration (in months) Month 1 Material Acquisition Month 2-4 Skeletal Image Acquisition Algorithm Development, Clothes Database Creation Month 5 Hardware System Assembly And Software Implementation Month 6 System Testing

The Institution of Engineers (India) Technical Department

The Institution of Engineers (India) R&D Grant-in-aid Scheme
I. Work plan (including detailed methodology and time schedule) (5000 characters)

Extraction of user skeletal structure would allow us to create an augmented reality environment by isolating the user area from the video stream and superimposing it onto a virtual environment in the user interface. Since the model is superimposed on the top layer, the user always stays behind the model which restricts some possible actions of the user such as folding arms or holding hands in front of the t-shirt. In order to solve that issue skin colored areas are detected and brought to the front layer. This would be followed by model tracking, positioning and rotation and scaling. Our approach can be summarized as follows: 1. Extraction of the user from the video stream by using depth and user label data. 2. Positioning of the 2D cloth models by using the skeletal tracker of the Kinect SDK. 3. Scaling of the models by using the Euclidean distance between the body joints and distance of the user from the sensor. 4. Skin color detection in order to prevent unwanted occlusions of body parts and the model. 5. Superimposition of the model on the user. 6. 3D CAD data creation and Rapid Prototyping Trials
J. Future plans (1200 characters)

There are many possible implementations regarding the model to be used for tting. It is possible to apply a homographic transformation to the images rather than the simple scalerotate technique in order to match multiple joints altogether although it would require more computation. Another alternative could be using many pictures at different angles so that it would be possible to create more realistic video streams. One could achieve a similar effect using 3D models and rendering them according to the current angle and positions. Second approach would also make it possible to implement a physics engine to go along with the model.

K. Where the Research Findings / Developed Equipment can be used in future (1000 characters)

The developed system would be particularly useful in the retail industry. With the advent of online shopping, people do not get a chance to try on clothes before buying them. Even at stores, the system could save a lot of time and provide people with various options. Additionally, the research findings could be very useful in various fields like computer vision, feature detection, object tracking etc. Studies of shape descriptors such as Histograms of Oriented Gradients (HOG) can also be an option for various applications and fields pertaining to feature detection and body posture estimation.
L. Facilities to be provided by Students Institute:

The Institution of Engineers (India) Technical Department

The Institution of Engineers (India) R&D Grant-in-aid Scheme
M. Details of Financial Requirements (in Rs.) [Fund will be provided by IEI for non-recurring expenditure only i.e.
for special equipment and small tools reqd. for this project, testing, experimentation, field visit etc. No scholarship, honorarium can be provided or permanent equipment like computers and peripherals can be procured under this grant]: Sl. Details of expenditure Type (Recurring / non- recurring) Non-Recurring Estimated Cost In Rs. 62,000 Fund to be arranged by students Instt. / other sources* Nil Fund required from Institution of Engineers (India) In Rs. 62,000

1.

Multi-functional Kinect Sensor for Windows bundled with Data Acquisition Kit and experimental model TOTAL:

62,000

Nil

62,000

SUMMARY OF FINANCIAL REQUIREMENT (in Rs.) Type Recurring Non-recurring TOTAL 1 6 months Nil 22,000 22,000

*Please mention the other sources of fund (if any):

The Institution of Engineers (India) Technical Department

The Institution of Engineers (India) R&D Grant-in-aid Scheme
Declaration: Project Title AUGMENTED REALITY PROTOCOLS FOR VIRTUAL FITTING ROOMS USING KINECT SENSOR Declaration by student/s: I/we........................................................................................................................................................................... .
(Name of student/s)

..................................................................................................................................................... .............................. . of .......................................................................................................................... .....................................................

(Name of university/institute)

hereby declare that I/we shall undertake the project strictly in accordance with the provisions specified in the project proposal and we shall submit half-yearly reports about the progress of the work and final report as per the format of IEI on completion of the project. In case of failure, we shall refund the grant to IEI. We also authorise IEI to publish the findings of the project in their publications and also to use the same for any useful purpose as deemed fit by the IEI. Date: Place: Recommendation by guide/s: I/we ......................................................................................... ...................................................................... ........... .
(Name of guide/s)

Signature of student/s with IEI membership no. (for PG & Ph.D students)

of .......................................................................................................................... .....................................................
(Name of university/institute)

recommend the above project, which is to be carried out under my/our supervision. We shall arrange to submit half-yearly reports about the progress of the work and final report as per the format of IEI on completion of the project. In case of failure, we shall arrange to refund the grant to IEI. We also authorise IEI to publish the findings of the project in their publications and also to use the same for any useful purpose as deemed fit by the IEI. Date: Place: Recommendation by Head of the University/Institute: The project is recommended for obtaining grant-in-aid from IEI with the following conditions: i) The Investigator will be governed by the rules and regulations of the University/Institute and will be under administrative control of the University/ Institute for the duration of the project. ii) The grant-in-aid by the IEI will be used to meet the expenditure on the project and for the period for which the project has been sanctioned. iii) No administrative or other liability will be attached to the IEI at the end of the project. iv) The University/ Institute will provide basic infrastructure and other required facilities to the investigator for undertaking the research project. v) The University/ Institute will take into its books all assets received under this sanction and its disposal would be at the discretion of University/ Institute. vi) University/Institute assumes to undertake the financial and other management responsibilities of the project. Signature of guide/s with IEI membership no.

Seal of University/Institute

Signature of Registrar of University/Head of Institute