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
Semantic Geometric SLAM (SG-SLAM) in Dynamic Scenes
Reimplemented SG-SLAM — an RGB-D SLAM system that filters dynamic features by scaling their epipolar residual with a per-class semantic weight — and reproduced its benchmark against ORB-SLAM2 on 14 TUM and Bonn sequences.
Apr 19, 2024
Dead Reckoning with IMU & GPS in Vehicle Navigation
Instrumented a car with a VN-100 and GPS, calibrated the magnetometer for hard and soft iron distortion, fused heading through a complementary filter, and dead-reckoned a 2–3 km Boston drive — holding 2 m for the first 150–200 s before drifting 400 m.
Apr 9, 2024