Hi! My name is Brian, and I'm a robotics engineer at Fleet Robotics, where I'm developing localization and mapping software that will enable an autonomous climbing robot to traverse and clean ship hulls. Previously, I worked on perception and planning for autonomous aerial vehicles at Draper.
I completed my Ph.D. degree in 2022 in the Autonomous Systems Lab at Cornell University, where I was advised by Professor Mark Campbell. My research at Cornell focused on robotic perception and planning in uncertain and unstructured environments.
News
- In January 2024, I joined Fleet Robotics as a Senior Sensor Fusion, Localization, and Mapping Engineer!
Research
[Full publications list] [Google scholar profile] [YouTube channel]
Pseudo-lidar 3-D Obstacle Detection
A pipeline for stereo camera-based 3-D object detection, using SLAM point cloud fusion to generate detector training data.
[pdf] [code] [video presentation]
LDLS: Label Diffusion Lidar Segmentation
Lidar point cloud instance segmentation, using camera information to avoid any need for labeled 3-D training data.