Monocular Depth Estimation
A semi-autonomous litter-cleaning robot
Projects
LitterBot
A semi-autonomous litter-cleaning robot
State Estimation and Optical Flow based Tracking of a Quadrotor
In this project we develop an Unscented Kalman Filter (UKF) for our IMU driven quadcopter model to fuse the inertial data and the vision-based pose and velocity estimation. 
Robust Quadcopter Control in Dynamic Windfield
Designed and benchmarked control architectures (PID, LQR, MPC, and Geometric Controller) for a quadcopter operating in variable windfields, modeling wind disturbances as Gaussian noise and accounting for aerodynamic drag at cruising speeds of 1–5 m/s. 