Projects
Engineering projects from NVIDIA, CMU, and personal exploration in ML/Robotics.
NVIDIA Maxine — SDK Infrastructure & Triton Integration
Working on AI features for video conferencing in the Maxine team. Integrated Maxine SDK with Triton Inference Server for large-scale inference with efficient batch processing. Implemented 2D image registration algorithms using CUDA/C++. Managing SDK infrastructure including releases, testing, and performance optimization.
Realistic Scenario Generation in CARLA (Capstone)
Implemented goal-conditioned imitation learning for modeling traffic agents using expert trajectories in bird's eye view. Used DeepLabV3+ with MobileNet for vehicle motion prediction. Developed 3D to 2D homography projection for generating ground truth bounding boxes and built multi-object tracker for BEV vehicle tracking.
SLAM Implementation with AMCL & Visual Odometry
Implemented Adaptive Monte Carlo Localization (AMCL) in C++ with OpenMP, achieving 10Hz performance with 5000 particles. Built monocular camera tracking framework integrating classic visual odometry with DL-based image-scan alignment using GTSAM factor graphs, showing improved performance over pure VO.
Mobile Robot Localization & Obstacle Detection
Formulated bundle adjustment problem in Ceres Solver for offline robot localization using AprilTags. Developed software pipeline for obstacle detection using UV disparity maps in C++ and ROS2, achieving real-time performance for mobile robot navigation.
Image Synthesis with GANs and NeRF
Implemented various generative models including Poisson blending, DCGAN, CycleGAN, and StyleGAN using PyTorch. Explored Neural Style Transfer and used Neural Radiance Fields (NeRF) for super-resolution. Gained deep understanding of modern generative AI techniques.
DARPA SubT Challenge & Point Cloud Registration
Developed culinary skills evaluation using HMMs and integrated pose estimation algorithms with ROS data pipeline. Evaluated point cloud registration methods (ICP, GICP, GO-ICP) against proposed algorithms. Built multi-robot Gazebo simulation for DARPA Subterranean Challenge.
Computational Photography Suite
Implemented uncalibrated photometric stereo, depth from focus, and structured light triangulation. Developed white balancing, color correction, and tone mapping algorithms. Created depth estimation from light field images and used GDP for image reconstruction.
Autonomous Mobile Robot Navigation Stack
Started and led the autonomous robotics division. Developed complete navigation pipeline for Autonomous Mobile Robots (AMRs) using ROS Navigation Stack. Implemented lower-level motor controls in C++ and recruited team members for the new division.
Computer Vision Fundamentals (Lead TA)
Implemented variants of Lucas-Kanade tracking algorithms, homography estimation, and multiview 3D reconstruction from scratch. Served as Teaching Assistant and led the 3D reconstruction assignment module, helping students understand fundamental CV concepts.