Projects

• Event-based Human Detection

  Project on using event camera to do the moving human detection in low-latency (200hz) and high dynamic range fashion.

  

• Long-term Autonomy of Mobile Robots

  My research project on the intersection of vision and robotics.

  Using semantic understanding from vision to improve the real-robot navigation in a glasswall environment.

  

• Fundamental SLAM Algorithms

  I learned and implemented some fundamental SLAM algorithms based on the Robot Mapping lecture series from Dr. Cyrill Stachniss.

  After doing self-learning on the videos and lecture notes, I learned the basics of what is SLAM, how to do (classic paradigms) and why (Derivation).

  The topics including:

  • Odomotery model and Sensor model
  • Kalman filter family: EFK, UKF
  • (Rao-Blackwellized) Particle filter
  • Feature-based mapping and Occupancy grid based mapping
  • FastSLAM
  • Graph-based SLAM (front-end, back-end)