In depth analysis of point cloud registration techniques using PCL to improve performance of mapping algorithms. Worked with various ICP variants and feature based registration techniques.

Built VUI using Alexa Skills Kit to trigger enrollment process. Utilized AWS CloudFormation templates to configure serverless backend for skill using AWS Lambda.

Utilized Google Guice and Lombok to develop highly modular code and Junit and Mockito for unit testing. Captured system architecture using modeling tools like PlantUML and DrawIO. Participated extensively with remote teams in project design reviews.

Established project structure and workflow including git repo organization, automated testing, and developer tooling for Linux systems.

Integrated commercial SLAM system, fusing data from LIDAR, sonar, wheel encoders, and IMU. PoC for sensing and navigation software.

Performed extensive literature and code reviews to identify and implement best practices for project design, workflow, and to gain technical understanding of system limitations. Distilled findings and project reflection in internal paper.