PROJECT 01 · STATE ESTIMATION
EKF Sensor Fusion
Wheel odometry + IMU fusion using an Extended Kalman Filter in ROS 2 and Gazebo.
Completed
Ten projects organized by robotics capability. Completed work includes direct evidence through reports, demos, performance data, and GitHub source code.
Wheel odometry + IMU fusion using an Extended Kalman Filter in ROS 2 and Gazebo.
YOLO object detection, persistent tracking, and instance segmentation with GPU benchmarking.
Multi-modal LiDAR-camera perception and geometric/data fusion.
Mapping and localization with quantitative benchmarking.
Navigation stack integration with sampling-based planning or custom planner implementation.
Pure Pursuit, LQR, and MPC trajectory tracking comparison.
MoveIt 2 based vision-guided pick-and-place.
PX4 state estimation, control, and vision integration.
Signal preprocessing, FFT/PSD, dominant-frequency analysis, and system/modal identification.
Integrated demo combining state estimation, perception, fusion, SLAM, planning, navigation, and control.