GTSAM

Sparse 3D Reconstruction and Bundle Adjustment
Sparse 3D Reconstruction and Bundle Adjustment

Built a custom Structure-from-Motion pipeline using CLAHE, SIFT, triangulation, and GTSAM-based bundle adjustment on a 24-frame dataset of a Buddha sculpture.

Nov 7, 2024

Photo Mosaicking of Low-Contrast Underwater Images
Photo Mosaicking of Low-Contrast Underwater Images

A comprehensive feature-matching and mosaicking pipeline for underwater images using CLAHE, SIFT, RANSAC, affine transformation, and GTSAM-based pose graph optimization.

Oct 5, 2024

Kimera VIO on EuRoC and Custom Datasets
Kimera VIO on EuRoC and Custom Datasets

Deployed Kimera-VIO in a reproducible Docker environment, reproduced its EuRoC V1 benchmark, then ran it on a self-collected RealSense D455 indoor sequence — where starting the camera at rest turned out to matter more than any parameter.

Apr 26, 2024