Roumen Popov

Bulgaria Contact Info
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About

An experienced software engineer with proven track record of designing innovative…

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Patents

  • Linear transform-based image processing techniques

    Issued US US9189833B2

    Signal processing techniques utilize operations performed in linear transform domains to perform operations including noise reduction, noise shaping, and gradient integration. The standard wavelet shrinkage method may be altered to constrain the modification of wavelet coefficients towards an initial estimate of the adjusted coefficients. The initial estimates can be computed by applying an edge detection filter to an input image. The wavelet shrinkage method may additionally be altered to…

    Signal processing techniques utilize operations performed in linear transform domains to perform operations including noise reduction, noise shaping, and gradient integration. The standard wavelet shrinkage method may be altered to constrain the modification of wavelet coefficients towards an initial estimate of the adjusted coefficients. The initial estimates can be computed by applying an edge detection filter to an input image. The wavelet shrinkage method may additionally be altered to include a noise preservation factor that enables an amount of noise to be preserved to avoid the production of artifacts. Integration of modified multi-dimensional gradients may also be performed in the wavelet (or other linear transform) domain by performing simple integration of the gradient (summing) separately in each dimension, obtaining a linear transform representation of the resulting signals, and combining the linear transforms.

    See patent

Projects

  • Robbie - an autonomous mobile home robot

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    Robbie is a personal project about building an autonomous mobile home robot capable of doing small useful things at home, such as bringing a beer or a bottle of water from the kitchen, playing with the kids (throwing a ball, bowling, arranging cubes), playing games like physical chess and backgammon, etc.

    The robot software architecture consists of a stereo vision module, visual motion estimation
    module, navigation module, and control logic module that determines the robot…

    Robbie is a personal project about building an autonomous mobile home robot capable of doing small useful things at home, such as bringing a beer or a bottle of water from the kitchen, playing with the kids (throwing a ball, bowling, arranging cubes), playing games like physical chess and backgammon, etc.

    The robot software architecture consists of a stereo vision module, visual motion estimation
    module, navigation module, and control logic module that determines the robot behavior.

    The stereo vision module uses a semi-dense stereo vision algorithm that I developed from the
    ground up. It is based on three cameras in an L shape configuration to tackle the problem with
    horizontal lines. It uses local polynomial approximation of edges and ridges to generate robust
    features and to achieve significantly improved sub-pixel accuracy of the disparity estimation,
    which allows reducing the frame size considerably to save on computational requirements. The
    algorithm was implemented in OpenCL on CPU using the SSE vector engine and fixed point
    arithmetic.

    The visual motion estimation module uses a semi-dense visual motion estimation algorithm
    based on spatial data produced by the stereo vision module. It was also developed from the
    ground up. I implemented the algorithm in OpenCL on CPU using the SSE vector engine and
    fixed point arithmetic.

    The navigation algorithm currently is implemented using key frames as a means for localization.

    I also built the servo motors electronics and implemented the servo motors embedded
    control software, as well as designed, 3D printed and put together the full body of the latest prototype.

    See project

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