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Arun Srivatsan Rangaprasad I am currently a researcher at Apple. I graduated in May 2018 with a Ph.D. from Biorobotics Laboratory in the Robotics Institute at Carnegie Mellon University. I was advised by Dr. Howie Choset. My research interests lie at the intersection of multimodal perception, machine learning, and anything to do with point clouds. For my thesis, I developed probabilistic approaches for pose estimation. In collaboration with Dr. Nabil Simaan (Vanderbilt University) and Dr. Russ Taylor (Johns Hopkins University), I have been working on developing approaches for Complementary Situational Awareness (CSA) for minimally invasive robotic surgery as well as confined space manufacturing, where people and robots work together as partners in manipulation, perception and control. During my postdoc, I collaborated with Dr. Simon Lucey to explore deep learning techniques for registration of point clouds. During my Masters, I worked with Dr. Sandipan Bandyopadhyay (Indian Institute of Technology Madras) on developing a 3 Dof reconfigurable spatial parallel manipulator called MaPaMan. My research focused on mechanism design, kinematics and singularity analyses of parallel manipulators. In addition to robotics, I also have an active interest in product development. I had a brief stint developing a product called Tangle , that keeps earphones from entangling. We ran an Indiegogo campaign and sold the product to 18 countries. I received the institute merit prize gold medal for the highest CGPA in dual degree program among students of all departments in IIT Madras for 2012. I received the Centre for Machine Learning and Health (CMLH) Fellowship in Digital Health in 2017. Specialities : Point cloud registration / 3D reconstruction / Geometric vision / SLAM / Probabilistic estimation / Machine learning / Manipulation / Mechanism Design |
 Email: aruns[at]apple.com
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PublicationsDeep learning for Point Cloud Registration |
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PointNetLK: Robust & Efficient Point Cloud Registration using PointNet
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Learning for Visual Place Recognition |
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MRS-VPR: a multi-resolution sampling based global visual place recognition method
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A Multi-Domain Feature Learning Method for Visual Place Recognition
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Probabilistic Approaches to Pose EstimationFor more information click here. |
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Probabilistic Pose Estimation Using a Bingham Distribution-Based Linear Filter
Bingham Distribution-Based Linear Filter for Online Pose Estimation
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Estimating SE(3) elements using a dual-quaternion based linear Kalman filter
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Registration with a small number of sparse measurements
Sparse Point Registration
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Multiple Start Branch and Prune Filtering Algorithm for Nonconvex Optimization
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Approaches for Complementary Situational Awareness in Minimially Invasive SurgeriesFor more information click here. |
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Complementary Model Update: A Method for Simultaneous Registration and Stiffness Mapping in Flexible Environments
Simultaneous Registration and Stiffness mapping of a Flexible Environment using Stiffness and Geometric Prior
Multimodal Approach to Registration Using Stereo Imaging and Contact Sensing
Registering Surgical Tool to a Soft Body using Mechanical Palpation
Hand-held stiffness measurement device for tissue analysis
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Tissue Stiffness Mapping Strategies |
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Trajectory-Optimized Sensing for Active Search of Tissue Abnormalities in Robotic Surgery
Using Bayesian Optimization to Guide Probing of a Flexible Environment for Simultaneous Registration and Stiffness Mapping
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Augmented Reality for Surgical ApplicationsFor more information click here. |
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A Real-time Augmented Reality Surgical System for Overlaying Stiffness Information
A surgical system for automatic registration, stiffness mapping and dynamic image overlay
Dynamic Texture Mapping of 3D models for Stiffness Map Visualization
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Miniature Force Sensor DevelopmentFor more information click here. |
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Development of an Inexpensive Tri-axial Force Sensor for Minimally Invasive Surgery
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BodySLAM for medical snake robotFor more information click here. |
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Using Lie algebra for shape estimation of medical snake robots
Deep Q Reinforcement Learning for Autonomous Navigation of Surgical Snake Robot in Confined Spaces
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Kinematics, design and analysis of parallel manipulatorsFor more information click here. |
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Computation of the safe working zones of parallel manipulators
Determination of the safe working zone of a parallel manipulator
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On the position kinematic analysis of MaPaMan: a reconfigurable three-degrees-of-freedom spatial parallel manipulator
Analysis of the degrees-of-freedom of spatial parallel manipulators in regular and singular configurations
Analysis of constraint equations and their singularities
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Coupler-curve synthesis of a planar four-bar mechanism using a genetic algorithm based optimization method
Coupler-curve synthesis via multi-objective optimisation using NSGA-II
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Computational geometry |
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Analytical Determination of the Proximity of Two Right-circular Cylinders in Space
An analytical formulation for finding the proximity of two arbitrary cylinders in space
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Minimum area enclosure and alpha hull of a set of freeform planar closed curves
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