GTA for CS3630 - Introduction to Perception and Robotics taught by Dr. Frank Dellaert.

a) Developed robust multi-legged pallet detection using DBSCAN clustering for autonomous forklifts with 2D LIDAR

b) Successfully deployed the algorithms to execute autonomous pickups and drop-offs with 92% accuracy

c) Analyzed performance of iris_lama (localization and mapping library) at customer sites, tuned pose loss scores and wrote unit tests for map validation

I was involved in wide-ranging tasks, namely,

a) Integration of proprietary controllers and motion planners with Mowito's navigation stack

b) Implemented instance segmentation of SKUs using Mask-RCNN and estimated 3D pose using D435i RGBD images

c) Implemented fleet management and deployed SLAM-Toolbox and TAGSLAM on AMRs and a UAV