Krishan Kumar@KrishanKumar

Lumina is a real-time assistive navigation system designed for visually impaired users. It uses a camera feed (local webcam or IP camera) to continuously perceive the environment, build a persistent spatial memory, and respond to natural-language queries like "Where is my phone?" or "Find my bottle" with spoken, clock-direction navigation instructions. The system is built around a true Multi-Agent System (MAS) architecture — six autonomous agents communicate exclusively through a central Pub/Sub event bus with no direct inter-agent coupling. This enables genuine agent autonomy, fault isolation, and emergent negotiation behaviour. Core capabilities: - Real-time object detection and multi-object tracking (YOLOv8 + IoU tracker) - Monocular depth estimation with RANSAC multi-anchor metric calibration (MiDaS) - 3D spatial back-projection (X, Y, Z camera-coordinate vectors) - Persistent spatial memory with probabilistic confidence decay (Qdrant vector DB) - Illumination-invariant visual Re-ID for cross-frame object deduplication - Bird's-Eye View occupancy grid for safe lateral obstacle avoidance - ORB-SLAM visual odometry compass (drift-free heading without IMU) - LLM-driven query parsing and natural-language response generation - LLM cascade: Groq → OpenAI → Local edge SLM (llama.cpp / Ollama) → deterministic fallback - Real-time WebSocket streaming of annotated frames, agent logs, and navigation responses - Cross-session persistent user memory

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