projects

I've worked on a number of interesting projects over the years, and more are currently in the works, so check back again soon.

• Simultaneous Localization and Mapping (SLAM) with Dynamic Object Tracking

  I recently did some evaluation work of SLAM algorithms and developed a Matlab version of FastSLAM with several variations. Tracking of dynamic objects was incorporated for robustness in dynamic environments. I also put together a simple self-contained robot simulator for visualization and testing. Sample result videos to be posted.

• Highly Organized Bunch Of Scavengers (HOBOS):
  A Multi Agent Approach to Vision Based Robot Scavenging

  Together with my Vision Lab colleagues, Brian Fulkerson and Jeremi Sudol, we designed and implemented a system for multi agent robot scavenging. The architecture of the system is specifically engineered for scalability in the number of agents and robustness to long periods of network partitioning. Each agent can operate entirely on its own, but cooperates with others even when sparse communication is available.

  I worked primarily on the localization and communication elements of the system, which utilized structure from motion (SFM), hidden markov models (HMMs), scale invariant feature transform (SIFT), and delay tolerant networking concepts from peer-to-peer mobile ad-hoc networking.

• Dense 3D Mapping with Monocular Vision

  While at Harvey Mudd I constructed a large C++ toolkit for building 3D maps from sequential images captured by a moving robot. The toolkit also included graphics tools to display the intermediate results of each computational step in the pipeline. This was the project that first got me into vision and led me to where I currently stand. I have learned quite a lot since then. Check out the project's old homepage at Harvey Mudd College.