Location: Search Based Planning Lab, RI, CMU

RoMaN is a mobile manipulation platform developed as part of the RCTA project which is a collaboration between several universities, ARL, JPL and GD. In this work, I deployed perception via search for crate detection on RoMaN. We demonstrated higher accuracy as compared to pure learning based methods and demoed the full pipeline of pose estimation followed by crate opening at NREC. The demo was attended by eminent defense personnel.

Papers : SPIE / Videos : Clip 1, Clip 2 / Media : / Skills : C++, ROS, PCL, OpenCV, MPI