Sai Ramana Kiran

I am currently wrapping up my Master's in Robotics Department, at Worcester Polytechnic Institute. I primarily work on 3D computer vision for robots at PeAR Lab along with my advisor Prof Nitin Sanket.

From 2018 to 2022, I worked at Quantitative Brokers as a senior C++ software developer. I was designing latency sensitive trading systems and algorithms for fast algorithmic execution.

I got my BS/MS in Aerospace Engineering from IIT Madras, where I worked in Prof Ranjith Mohan's lab on Aerial and Ground Robot Collaborative Navigation systems

I learn by teaching and as part of that effort I jot down my thoughts on concepts I learn. You can find this in my obsidian second brain.

CV / Email / GitHub / Google Scholar / LinkedIn / Obsidian Notes


Computer Vision and Deep Learning Intern Torc Robotics Aug 2023 - Dec 2023	Perception and Localization Intern Nokia Bell Labs Summer 2023 Feb 2024 - Present	M.Sc Robotics WPI 2022-2024	Senior C++ Developer Quantitative Brokers Aug 2020 - July 2022	C++ Developer Quantitative Brokers July 2018 - July 2020	B.Tech/M.Tech Aerospace Engineering IITM 2013-2018

Research

I'm interested in math, computer vision, machine learning, optimization, graphics and their applications to robotics.

EdgeFlowNet: 100FPS@1W Optical Flow For Tiny Mobile Robots

Sai Ramana Kiran, Rishabh Singh, Manoj Velmurgan, Nitin Sanket

We present an approach to achieve 100FPS optical flow inference speeds and demonstrate on real world robot autonomy experiments. (Currently under preparation for RA-L)

Aerial-Ground Robotic system for Terrain estimation and Navigation

Sai Ramana Kiran, Ashutosh Kumar, Ranjith Mohan
ICC, 2019
IEEE Paper / Aerial vehicle stack / Ground vehicle Stack

We show autonomous aerial vehicle and ground vehicle collaborate while performing task of unknown rough terrain estimation and navigation.

Projects

These include coursework, side projects and unpublished research work.

	Enhancing Multi view structured Bird’s-Eye-View Traffic Scene Understanding from Onboard Images slides / project page Enhanced the original STSU’s transformer architecture to use multi-view onboard images using enhanced positional encoding to construct better lane lines
	Stereo Visual Inertial Odometry project page Implemented Multi-State Constraint Kalman Filter based Visual Inertial Odometry
	Point Cloud Semantic Mapping project page A pipeline to combine the data from LiDAR and Camera to obtain semantic painted point cloud.
	Neural Radience Fields (NeRF) project page Implemented a full pipeline of NeRF
	Structure from Motion (SfM) project page Simultaneously reconstructed 3D scene (Mapping) and extracted camera pose (Localization) from given camera correspondences using (Non)Linear triangulation, (Non)Linear PnP and Bundle Adjustment (BA) pipeline
	AutoCalib: Zhang's Calibration module project page Implemented Zhang’s camera calibration by nonlinear optimization of intrinsics and extrinsics
	Face Swap project page Faceswap pipeline using Delaunay triangulation and Thin plate splines based warping and poisson blending in a video
	AutoPano: Stitching assorted images project page Created a panorama by stitching images using homography estimated from traditional (ANMS, RANSAC feature points) and Deep learning (Supervised and Unsupervised HomographyNet) methods