Algorithm Engineer

Segway Robotics

Feb 2017 – Jun 2019 Beijing China
Develop algorithms including:

  • Area mapping with visual-inertial sensors or 2D lidars
  • Incremental odometry and visual localization
  • Spatial, temporal, deterministic, stochastic calibration

PhD student

The Ohio State University

Jan 2013 – Dec 2016 Ohio
Study and research odometry and mapping and calibration with
GPS, inertial, color, and depth sensors

Research Topics

Mobile AR Sensor Calibration

Calibrate the camera and IMU on a mobile device

MARS Logger for Android and iOS

App to log synced camera and IMU frames at >25Hz

Collaborative SLAM by Crowd-Sourcing

Client-server based SLAM with mobile AR sensors

RGBD-IMU Fusion for 3D Re-construction

Fuse RGBD and IMU data to digitalize a place

Stereo Camera and IMU Odometry by Optimization

Keyframe-based double window optimization

Edge-guided Segmentation of Remotely Sensed Imagery

Segment remotely sensed images with edge clues

Selected Publications

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In recent years, commodity mobile devices equipped with cameras and inertial measurement units (IMUs) have attracted much research and …

Visual place recognition and simultaneous localization and mapping (SLAM) have recently begun to be used in real-world autonomous …

Targeted at operations without adequate global navigation satellite system signals, simultaneous localization and mapping (SLAM) has …

Navigation from one place to another involves estimating location and orientation. As such, navigation and location-based services are …

Kinect-style RGB-D cameras have been used to build large scale dense 3D maps for indoor environments. These maps can serve many …

Recent Posts

What is liftJacobian? The liftJacobian appears in OKVIS when computing Jacobians for a CostFunction in Ceres Solver. It computes the …

Research involves many different tasks. To solve these tasks efficiently, quite a few tools besides pencil and paper are needed. As I …

The baby has been playing a color matching game with three identical dices. A dice has different colors on its faces. Every time, the …