(c++) Developed a 3D HD map creation algorithm based on graph-based SLAM algorithm (Simultaneous Localization and Mapping with graph optimization).
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Designed a submap forming method to simplify the calculation unit from point-cloud to submap. Designed an adaptive trigger based on LiDar covariance for the execution of submap forming. Increased the map creation speed by 20%.
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Implemented Boost RTree algorithm to find loop-closure. Improved the RMSE by 18% compared to KdTree algorithm.
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Designed an outlier remover to check the global consistency of every loop-closure finding based on chi-square test.
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Utilized Google Protocol Buffer to serialize point-cloud pose related data. Speed up the data processing.
(MATLAB) Presented a VO method (Visual Odometry, algorithms estimating the robot state with vision information) based on direct intensity from RGB-D image.
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Implemented Gauss-Newton algorithm to solve the optimal transformation between frames by minimizing the intensity residual from all pixels. Increased the reliability of registration when camera distort/defocus.
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Adopted a sliding window optimization to process frames in batch. Realized a semi-global pose synchronization.
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Developed a coarse-to-fine data scheme to reduce the computation load in large camera motions (x2 speed up).
