Projects
LiDAR Point Cloud S2D (GAN)
Sep 2019Built a GAN model based on Pix2Pix to transform point cloud projection images into camera depth images. Enables transformation between point cloud and image coordinates.
DARPA SubT Challenge
Aug 2019Team NCTU (7th Place). Developed autonomous mapping and navigation for underground environments using multi-agent systems.
Marine Robot Tracking
Mar 2019Tracking and following marine robots using SSD (Single Shot MultiBox Detector), Kalman Filter, and PID control with visual and point-cloud data.
Point Cloud Classification
Jan 2019Deep learning classification of 3D point clouds using 2D projection images. Deployed in RobotX 2018 competition.
Maritime RobotX Challenge
Dec 20183D Perception Leader (5th Place). In charge of 3D LiDAR and depth camera perception, including detection and classification.
NCTU Self-Driving Robot
Jun 2018Built a self-navigating robot for campus environments using 16-bin LiDAR, IMU, GPS, and wheel odometry.
3D Object Modeling
Jan 2018Built a 3D point cloud modeling system using PCL, ICP, iSAM, and apriltags with a single depth RGB camera.
Multi-robot Patrolling
Dec 2017ROS-based multi-robot patrolling system for surveillance and logistics applications.
