Currently a PhD student with Research Interests in Robot Perception, Computer Vision, Sensor Fusion, Semantic Mapping, and Map Representations. Experience building Localization and Mapping algorithms for Humanoid Robots such as Boston Dynamics Atlas, and NASA Valkyrie. Published papers in Conferences and Journals in both Robotics and Software Engineering. Strong with C++, Java and Python. Ability in leveraging GPUs for Real-Time Perception using OpenCL and CUDA. Developed my own OpenGL Game Engine in C++ (Clay) for Real-Time Robot Perception Visualization of Custom Geometric Representations. Currently exploring CNN Architectures for Unsupervised Depth and Segmentation for Humanoid Robot Applications.
This was a summer project which involved tasks all the way from designing and assembling a multi-sensor head with on-board processing, and fusing sensor data using semantic segmentation, to implementing high-level behaviors on Atlas for tracking and following a human being.
This project aimed to extract planar regions from depth maps on the GPU at excessively high update rates of 150-200 Hz. The planar regions were then used by the A*-based footstep planner developed at IHMC to guide the robot while walking over rough terrain.
Visual odometry using ORB features, point-to-plane ICP, Factor Graph SLAM, Semantic 3D Segmentation and more.
Quadcopter capable of indoor mapping and localization using 2D SLAM and Altitude Hold flight. The quadrotor uses Pixhawk from 3DRobotics which employs the PX4 flight control stack.
Superfast Planar Region Segmentation and Plane Fitting using RANSAC implemented using the Point Cloud Library (PCL) in ROS. Marvel at the speed with which it refreshes and creates a brand new set of planes through the Point Cloud generated by RTAB-Map SLAM algorithm.
PID based drone racing controller with visual state estimation using C++(OpenCV) and ROS. Scored 17th Rank overall in AlphaPilot Challenge hosted by Lockheed Martin, MIT and Drone Racing League.
A security analysis of DevOps tool chains at multiple levels in Cloud-based Software deployments on three different Case Studies. Tools used include Docker, Chef, Glassfish, AWS EC2, AWS CodeDeploy, AWS CloudFormation and Bash
Models software architecture for recent visual SLAM algorithms and presents a comprehensive review of existing algorithms from the perspective of the presented software architecture.
Extracting planar regions for footstep planning on legged robots using a probabilistic octree, RANSAC, and alpha-shape approximate convex decomposition of planar surfaces from LIDAR pointcloud.
A security analysis of DevOps tool chains at multiple levels in Cloud-based Software deployments on three different Case Studies. Tools used include Docker, Chef, Glassfish, AWS EC2, AWS CodeDeploy, AWS CloudFormation and Bash
PHP and Java Continuous Delivery Pipelines implemented using Docker, Jenkins, Maven, JUnit, PHPUnit, etc. to facilitate education in Continuous Delivery.
Evaluating the Continuous Delivery Educational Pipeline (CDEP) by introducing the previously implemented pipeline in the Software Engineering Management course at the University of West Florida.
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