Resume
Experience
2023.1 - Present
Research & Develop Engineer
Trifo
California US
Attribution project : Robot vacuum SLAM algorithm with Cartographer Framework
1. Improve the OGM render with multi thread incremental method, speed up about 3x speed in rendering (1.2x speed in
overall)
2. Realize full Bayesian filter in front end calculation with scan matching posteriori Covariance estimation. (Fix 95% fail
due to wheel slip case on carpet)
Attribution project : Robot Vacuum with Robot arm demo
1. Design a pipeline help Robot Vacuum open the door unlock lever and push open with arm (with ROS2 master and
Micro Controller slaver communicate with Protobuf & DDS)
2. Implements Arm Controller successfully unlock the lever within 5% fail ratio
3. Reorganize Perception node form python with Onnx C++ interface (increase the detection from 0.5 fps to 3 fps)
Software
2022.6 - 2022.9
Software Develop Intern
Faraday Future
California US
Department: ADAS Localization & Navigation
Attribution project : Sensor Fusion node Object tracking & modeling with multi sensory input
The sensor fusion module is vital in object detecting & tracking pipeline. It gets the input from multi sensor detection outcomes and synthesizes and estimates the state of the final object. The module removes redundant information from multiple sensors and improves tracking accuracy and output format uniformity.
2021.7 - 2021.9
Research assistant
SIST MPL lab
Shanghai China
Attribution paper : A Versatile Event Centric Benchmark for Multi Sensor SLAM co author
Publication: L. Gao*, Y. Liang*, J. Yang*, S. Wu, C. Wang , L. Kneip, VECtor: A Versatile Event Centric Benchmarkfor Multi Sensor SLAM , IEEE Robotics and Automation Letters (RA L), 2022.
2019.12 - 2021.6
Algorithm Researcher
Yigo Shanghai
Shanghai China
Department: Yigo Autonomous vehicles Mapping & Localization
Attribution project : HD-map based vision localization & Gnss fusion Odometry (Avg. Failure range from 5km to 80 km)
1. Participate in the development of the matching algorithm between lane lines and road signs with outlier exclusion
2. Calculate and design cost function of lane line/landmark in None Linear Optimization of PNP Problem.
3. Derive and develop the pose covariance calculate algorism based on PNP matching, and adapt to ESKF backend, which
greatly increase the stability of the filter at under constrained situation
Attribution project : Low code 3D HD-map building system Realize Low cost and efficient Annotation Pipeline
1. Pre label all lane line landmark points with Reference GT NovAtel High accuracy GNSS IMU system
2. Deploy Web base d Efficient and easy to use multi view manual correction annotation system
Education
2021.9 - 2022.12
Northwestern University
Master of Science in Robotics
Evanston IL
An interdepartmental program, the Master of Science in Robotics (MSR) is a 15 month, full-time graduate program that equips students with the tools required of a robotics engineer. Course subject areas contain automatic control, kinematics & dynamics, machine learning, path planning, human-machine interfaces, etc.
2015.9 - 2019.8
Shanghai Jiao Tong University
Bachelor in mechanical engineer
Shanghai China
The mission of the undergraduate degree programs of the UM-SJTU Joint Institute is to prepare our graduates to begin a lifetime of technical and professional creativity and leadership.
Professional skillset
Program language
C++, C, Python, Matlab
Software
UG, Solidworks, AutoCAD, AltilumDesigner, Origin, Lab View
SLAM open-source algorithm
Vins-Mono, LIO-sam, Lego-Loam,
Orb-slam
Third-party library & framework
Ceres, OpenCV, Eigen3, ROS, CyberRT, Pytorch
Languages
Mandarin (native)
English (TOEFL 104)