Autonomous System Simulation

Worked in the Simulation and Experimentation team of aUToronto (U of T’s self driving car team). Zeus - Student built self driving car is the WINNER of all 4 years of SAE/GM AutoDrive challenge).

Feature Detection and Matching

This project implements feature point detection and its matching between stereo pair images from KITTI dataset. For a given input RGB image from left camera, the features which are described to be an image region that is salient, local, repeatable, compact and efficient, are identified and studied by visual inspection for unreliability on matching.

Lidar and IMU calibration

Worked on a 6 DOF non-linear optimization problem to determine the pose vector relating an Inertial Measurement Unit (IMU) to a LiDAR sensor based on the data collected on Zeus self-driving car during its operation.