3D Object Detection and Tracking

Vision sensor data (RGB and Depth) collected from a semi-humanoid robot ‘Pepper’ provided by IATSL laboratory, are used to perform 3D human detection and tracking within a household setup enabling better assistance to old or sick-adults in home-care.

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).

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.