LiDAR extrinsic calibration, visual odometry, SLAM, pose estimation, LiDAR tracking.

Conducted research and feasibility studies of new techniques and hardware in the field of 3d computer vision, such as digital fringe projection, plenoptics ( lightfiled cameras), coded apertures, OCT, high speed laser drivers (1 ns pulse), MEMS mirrors, TI DMD, SoC (Intel Joule, NVIDA Jetson, Xilinx Zynq), Sony Pregius CMOS image sensors, ON Semiconductor KAI CCD and Python CMOS image sensors.

Proposed and implemented the prove of concept allowing color imaging to be added to current scanner by integrating an array of RGB LED into the removable tip. Worked with electrical team on final version of the tip and developed the final software. As a result company was able to release color scanning capabilities to existing user without requiring hardware modification. Patent application: US 15/065,542

Continued improving and optimizing current software, achieving 40% faster 3D scan processing and less nosier data, utilizing techniques such as bilateral range image filter, median range image filter, weighted hashed voxel grid, reimplemented kd-tree data structure using SMID (AVX2 intrinsics). Dramaticly reduce file sizes, by saving only coordinates differences where apropriate, turncating redundant precision in floating points and compressing. Updated code to be C++11 conformat and updated compiler to VS C++ 2015.

Initiated CAPA after observing that some intraoral 3D scanners didn't hold calibration over time. Led root cause analysis which determined inadequate mounting methods for some optical components were used (not

a kinematic mount, too much and too hard epoxy). Successfully closed CAPA in additions to stability of calibration better overall accuracy was achieved. As result QA accuracy acceptance criteria was tightened by 30%.

Led development of the company's 2nd generation intraoral 3D scanner E4D NEVO (later rebranded as Planmeca PlanScan) US patent 09364300.

Architected and developed cross platform (Windows and OS X) scanning software: hardware interface (CCD driver control, LCoS control, EEPROM, temperature sensors, accelerometer, using I2C and SPI drivers); pipelined (Intel TBB) scanning engine 3D point cloud generator (OpenCL) and 3D point cloud registration and 3D scanning visualization (point based surface render(splats) using OpenGL 4.0 GLSL multi-pass deferred shading).

Toolset used: CMake, C++ (Visual C++ 2010, XCode clang), Boost, Ogre3D, TBB, Eigen, OpenCL, SFML, MKL. Perforce, git

Successfully led the engineering effort to obtain regulatory certification(electrical safety IEC-60601-1, EMC/EMI IEC-60601-2, laser safety IEC-60825-1 class 2 laser product).

Overseen transfer to manufacturing and developed manufacturing/QA tools: Camera and projection calibration (bundle adjustment), imaging and projection focusing estimation, pass/fail criteria

New scanner was a big success on the market, in the first few months company sold more systems than in all previous years combined. Proposed and conducted research then successfully led implementation of a hardware upgrade and software for the 1st generation scanner.

Upgrade allowed for the double frame rate of system by changing the drive waveform of the MEMS mirror from open loop sinusoidal to the closed-loop saw-tooth. The main challenge was dealing with resonance frequency and its harmonics of the mirror (hitting resonance cause breakage of the mirror). Over 80% of the existing users decided to update theirs systems.

Toolset: research: NI FPGA PCI card + LabVIEW FPGA module, MATLAB Simulink; implementation: TI C200 Delfino MSU.