· Worked at the Localization team on evaluating the output of ATG’s offline SLAM system

· Introduced objective metrics to evaluate the localized pose estimates in absence of the HD map

· Composed a lightweight SLAM verification pipeline which achieved a 98% classifying accuracy on a customized dataset and could easily accommodate other objective metrics for performance feedback

· Worked on a modular Perception system based on DJI's newly developed Livox Lidar

· Established a robust Lidar SLAM framework for Livox with its non-repetitive scanning patterns

· Incorporated intensity-based features into scan matching for high resistance to aggressive motion