Completed Projects
	+ Stereo Vision Based Visual Odometry (Computer Vision Lecture Project, Report in English)	This was my term project in the graduate lecture Advanced Topics in Computer Vision. The aim is to provide precise localization for a moving autonomous vehicle. In the papers I found, the method is said to give a high accuracy in localization. I mounted two USB 2.0 web cameras on a simply cutted wood material and constructed a simple stereo rig. The instrinsic and extrinsic parameters of the stereo system was found using a calibration process with a checkboard calibration pattern. The whole system gave correct results on estimation of sample camera motions. In addition, a sample vehicle motion is demonstrated on the ITU Autonomous Ground Vehicle in the Robotics Laboratory. This work was the final project in the Advanced Topics in Computer Vision (BBL588E) lecture.
	+ Indoor Positioning Testbed for Mobile Robots (B.Sc. Thesis, in English; TOK 2008 Paper in Turkish)	This was a camera based positioning system for a differential drive robot. Path planning and control of the robot were also developed on the test platform. The mobile robot has a Gumstix computer and communication with the base station is done over Wi-fi. The trajectory control algorithm is running on the Gumstix. On the base station, a Matrox frame grabber card with hardware acceleration, is used with Matrox Imaging Library. The best position update rate the mobile robot was 16Hz (60ms) while the frame grabbing time of the camera was 25Hz (40ms). The detection of obstacles (construction of the environment map) and the path planning is done on the base station. This work is done at Control and Avionics Laboratory.
	+ Least Squares Curve Fitting Software	A least squares curve fitting program written for numerical methods lecture in C++. The source code includes a matrix class with common matrix operations and linear equation solving methods (Cramer's rule, Gauss-Jordan elimination and Gauss-Seidel iteration).
	+ ITU Program Setup	Direct download link for setup package of the program for creating class schedules for ITU students.
	+ Runtime Libraries	Direct download link for runtime libraries that are necessary to run the program above.