arXiv subjects

Senthil Palanisamy

Publications and source records attributed to Senthil Palanisamy.

3 recordsLinked to original sources

arXiv2026

Ego-OSCAR: Egocentric Open source Stereo CAptuRe System

We present Ego-OSCAR, an open-hardware, low-cost, head-mounted stereo-inertial capture device for egocentric data collection in the wild. EgoOSCAR pairs a hardware-synchronized global-shutter stereo camera with a 6- axis IMU, an embedded Linux SBC for on-device video encoding, and a realtime microcontroller for user feedback and watchdog functions. The complete bill of materials is under USD 200 per unit, using only commercially available components and 3D-printed parts. Alongside the device, we release a complete software stack (hardware-accelerated recording pipeline, IMU sampling daemon, time-synchronization tooling, and watchdog firmware) and roughly 550 hours of egocentric stereo video per camera with synchronized IMU, collected by a distributed contributor network across everyday indoor environments. The release is annotated rather than raw: free-form action captions cover essentially the entire recorded timeline with an open vocabulary, and per-frame 3D hand reconstructions ship alongside per-session stereo calibration. Ego-OSCAR does not aim to match the per-unit fidelity of research-grade systems such as Project Aria; it aims to be the cheapest defensible substrate for crowdsourced egocentric capture, and to lower the activation energy for any team that wants to collect egocentric data at scale. All hardware designs, software, and the dataset are open-sourced

cs.CV↗

arXiv2026

MobileEgo Anywhere: Open Infrastructure for long horizon egocentric data on commodity hardware

Vision-language-action (VLA) models have driven demand for large-scale egocentric datasets, yet the hardware and infrastructure to collect long-horizon data remain inaccessible. Datasets today typically have episodes only a few minutes long, which fails to capture the long-horizon temporal dependencies that complex robotic task execution requires. We present MobileEgo Anywhere, a framework for collecting hour-plus egocentric trajectories on commodity mobile hardware that uses modern smartphone sensors for long-term pose tracking without the hardware barriers of traditional robotics data collection. We release three components: (1) STERA, an open-source video-processing pipeline that converts raw mobile captures into standardized, training-ready formats for VLA and foundation-model research; (2) a free mobile app that lets any user record egocentric activity; and (3) a 200-hour dataset of diverse, long-form egocentric data with persistent state tracking across 584 sessions. We further show this data is a usable training signal:mid-training a VLA on it lowers held-out action-prediction error.

cs.CV↗

arXiv2026

Automated Robotic Moisture Monitoring in Agricultural Fields

Monitoring moisture level of land in a large-scale plantation is tedious. The main objective of this project is to use a robotic kit in collaboration with the on-field moisture sensor circuits, thereby creating an efficient and economical moisture monitoring system. A large agriculture field is divided into smaller grids. Each grid is placed with a moisture sensor. Whenever a sensor reports the soil to be dry, the robot goes to the concerned field for inspection. The path to the concerned field is found by applying Dijkstra's shortest path algorithm on the aerial image of the field. Then the total moisture content of the field is calculated by the robot using suitable image processing algorithms and reported accordingly. For developing and testing this work, a small study field was set up above which a camera was mounted at an appropriate height to capture its aerial view. Thus a prototype for an automated system of monitoring agricultural fields' moisture has been developed through this work.

cs.RO↗