I am a PhD student at University of Toronto Institute for Aerospace Studies, with advisor Professor Jonathan Kelly. My research focuses on visual-inertial navigation, multi-sensor calibration, and robust and active perception.
Previously, Master of Science (2015, Department of Computer Science, Brown University, advised by Professor Chad Jenkins). Bachelor of Science (2012, Department of Machine Intelligence, Peking University, advised by Professor Huijing Zhao).
I am a proud contributor to open source communities. Your Linux kernel probably has my code.
Developed algorithms and tools (May–August) to improve large-scale bundling adjustment and reduce errors in imagery used in Google Maps and other products.
Main developer of libfreenect2, the open source drivers for the Kinect for Windows v2 device. I reverse engineered the calibrated depth decoding, and created various hardware acceleration (CUDA, hardware codecs) drivers for Intel, NVIDIA, and Tegra platforms.
Reverse engineered Suitable Technologies' Beam telepresence robot to provide a ROS package rosbeam for motor control, odometry access, camera feeds, and documentation on its internal communication protocols and structures. See also my Master's degree report (PDF) on the applications.
With the POSS group at Peking University (2011–2012), I developed motion planning systems for wheel steering control of a self-driving car platform. Implemented high-precision wheel odometry estimator, control interfaces, networking API, and visualization.
At Red Hat (2012–2013) I tested and patched a bunch of bugs among the UEFI subsystem. I also maintained code for several stable kernel branches. You can find some code or backports signed off by me on kernel.org, me on Bugzilla, or on mailing lists.
RRT-Connect algorithm (click to start)
Powered by Bootstrap | Last Updated: October 21, 2016