This page contains a list of my academic and non academic publications. For a full list of my academic publications you can check out my google scholar.
Sept 11, 2021
SYNCHROSEM: MULTI-MODAL SEMANTIC SLAM FOR LVI SYSTEMS
SynchroSem is a loosely coupled multi-modal semantic SLAM approach for synchronized Lidar-Visual-Inertial (LVI) systems. Our system integrates pose measurements from two different tightly coupled odometry systems, Visual-Inertial (VI) and Lidar-Inertial (LI). These are loosely coupled by means of a pose graph representation that enables a robust late-fusion of pose measurements, being resilient to geometric and visual degeneracy. The multi-modal semantic feature extraction allows the global optimization system to reduce long term errors via loop closure, achieving state-of-the-art performance.
April 14, 2021
ADVANCING CONSTRUCTION: DIGITAL TOOLS FOR SITE EFFICIENCY
The combination of outdated tools and processes prevents construction site managers and other stakeholders from efficiently tracking progress and measuring quality on their construction projects. This leads to delays and budget overruns caused by rework. Digital tools using AI and ML can measure, track, and analyze construction processes to enable efficient process control, thereby reducing waste and inefficiency.
August 11, 2017
Recent approaches in robot perception follow the insight that perception is facilitated by interaction with the environment. These approaches are subsumed under the term Interactive Perception (IP). This view of perception provides the following benefits. First, interaction with the environment creates a rich sensory signal that would otherwise not be present. Second, knowledge of the regularity in the combined space of sensory data and action parameters facilitates the prediction and interpretation of the sensory signal.