Note: Mobile version is a bit simpler to make it easier to read.
I built this drone from buying parts, choosing flight controller, brushless motors, and loading weight, etc.
Welcome to my personal website!
I am a Robotics PhD student at the University of Michigan, Ann Arbor. I have done research and projectin a wide variety of areas such asdeep learning for autonomous vehicles on perception, Simultaneous Localization and Mapping (SLAM) and motion planning for small autonomous vehicles, 3D reconstruction, etc.
Now, I am working with Prof. Grizzle on helping Cassie be able to see and sense the world. I collaborated with several PhD students to build a local map using an EKF, with the inputs being encoders at each joint, as well as a global map using factor graph. The local map is for temporary usage to analyze the surrounding environment, while the global map is for long-term usage including loop closures.
Previously, I worked on the perception of autonomous vehicles. Specifically, I am now working on pedestrian prediction along with action recognition, 3D skeleton pose estimation and gaze angles to assist autonomous vehicles under the supervision of Professor Matthew Johnson-Roberson in the DROP lab. Also, I worked on SLAM with Professor Edwin Olsen in the APRIL Robotics lab. Specifically, I worked on an Apriltag follower to have the MAGIC robots which are wheeled robots to follow multi-agents by using mono-camera and robots are also able to be guided to turn or to go by voice commands along with silence detection. In the meantime, I also implemented visual odometry with RGBD camera to correct errors from encoders on wheeled robots and also compared to GPS as the ground truth.
My research interests are more orientated on autonomous vehicles and mobile robotics on perception. Specifically, I focus on pedestrian prediction, SLAM, as well as dynamic obstacle detection and tracking. In my free time, I am a professional photographer. I do weddings, personal portraits, and landscapes as well. I also love traveling and watching movies.
I hope you’ll find this website useful. If you have any comments or suggestions, please feel free to contact me.