Current robotic maps are limited by decades-old range sensing technology. Only multisensor (LIDAR, camera, RADAR and multispectral) approaches can provide the density and quality of… Read More »Multi-sensor Fusion for Navigation and Mapping (2009-2014)
Humans are consumers of 3D models for training, oversight, operations and presentation. My research investigated new methods for immersive display that enhanced these tasks. Approaches… Read More »Model Visualization (2009-2014)
I supported ongoing research in lunar robotics at CMU. I led automation of RedRover, a prototype equatorial rover designed to win the Google Lunar XPRIZE,… Read More »Commercial Lunar Robotics (2008-2011)
Robots are poised to proliferate in underground civil inspection and mining operations. I took over development of the CaveCrawler mobile robot, which was a platform… Read More »Subterranean Mapping (2007-2012)
I developed robots for inspecting hazardous and access-constrained underground environments. The MOSAIC camera is a borehole-deployed inspection robot that generates 360 degree panoramas. MOSAIC captures… Read More »Borehole Scanning and Imaging (2006-2009)
The Human Odometer was a wearable personal localization system for first responders and warfighters. The key idea is that real-time pose and activity information for… Read More »Human Odometer (2005)
Through an undergrad internship with the Tele-supervised Autonomous Robotics Lab at Carnegie Mellon, I developed a terrain hazard detection system for a multi-robot lunar prospecting… Read More »Hazard Detection for Prospecting (2005)