Robotics Post-Immersionism: Pose estimation and mapping

Welcome to the Robotics Post-Immersionism channel. On this channel, I will talk about non-traditional ways to solve robotics problems, which cannot be immersed into the common existing work but demonstrate exceptional capabilities. Here is my website. https://frc.ri.cmu.edu/~zhangji As the first video of my channel, I was sitting on the patio beside Newell-Simon Hall at Carnegie Mellon University, home of the Robotics Institute, where the work started. This video covers my PhD work. My thesis advisor is Dr. Sanjiv Singh, research professor at Carnegie Mellon University, Funder and Editor in Chief of Journal of Field Robotics. I received my degree in February 2017. https://frc.ri.cmu.edu/~ssingh/Sanjiv_Singh/home.html If you are interested in the technical details behind this video, some relevant papers are listed. J. Zhang and S. Singh. Laser-visual-inertial Odometry and Mapping with High Robustness and Low Drift. Journal of Field Robotics. vol. 35, no. 8, pp. 1242–1264, 2018. J. Zhang and S. Singh. Low-drift and Real-time Lidar Odometry and Mapping. Autonomous Robots. vol. 41, no. 2, pp. 401–416, 2017. J. Zhang, M. Kaess and S. Singh. A Real-time Method for Depth Enhanced Visual Odometry. Autonomous Robots. vol. 41, no. 1, pp. 31–43, 2017. J. Zhang, M. Kaess, and S. Singh. On Degeneracy of Optimization-based State Estimation Problems. IEEE Intl. Conf. on Robotics and Automation (ICRA). Stockholm, Sweden, May 2016. In addition, a Pittsburgh based startup, Kaarta, is commercializing the technology as an outcome of my PhD research. I myself am a funder of Kaarta and serving as the Chief Scientist. http://www.kaarta.com The drone experiments in the video are assisted by Near Earth Autonomy, a Pittsburgh based R&D startup in the area of aerial autonomy. Specifically, Rushat Chadha implemented the drone navigation software, Spencer Spiker, David Murphy, and Kimber Rugg helped conduct the field experiments. https://www.nearearth.aero Thanks for watching! More video will come out on the channel.