CV
General Information
| Full Name | Albert Einstein |
| Date of Birth | 14th August 1997 |
| Contact | Email: printeger@outlook.com | Telephone: +86 13151533600 |
| Research Interests | Robot Perception, SLAM, Autonomous Driving, Robot Learning, UAV Navigation |
Education
- 2019 - 2022
M.S.
Harbin Engineering University, Harbin, China
- Naval Architecture and Ocean Engineering
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- Second year MSci research peoject: First Class
- Specialisms: Mainly focus on underwater robot navigation and control in ROV lab.
- Thesis title: "Research on Positioning Method of Underwater Robot Based on Multi-sensor Data Fusion"
- Detail: In this paper, a ROV localization method is proposed, which integrates multiple sensors such as camera, sonar and IMU through nonlinear optimization method to adapt to the special underwater environment.
- 2015 - 2019
B.Eng.
Nanjing University of Aeronautics and Astronautics, Nanjing, China
- Automation
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- Four year MSci research peoject: First Class
- Specialisms: automatic control theory; Embedded System development; Signal processing; Visual SLAM
- Thesis title: "Research on Positioning Method of Underwater Robot Based on Multi-sensor Data Fusion"
Experience
- Feb 2022 - now
Engineer of LiDAR Algorithm and Application
Fulltime in Innovusion, Suzhou, China
- LiDAR-based localization algorithm: Develop multi-sensor fusion LiDAR localization algorithm based on optimization and Kalman filter for autonomous driving and road end applications.
- LiDAR-IMU calibration: Develop LiDAR-IMU calibration algorithm based on hand-eye calibration method.
- low cost GPS and IMU fusion localization method: Develop GPS-IMU fusion localization algorithm using ESKF(second version is implemented with the IKFoM lib). GPS measurement come from cell phones using websocket.
- Highway mapping: Build pointcloud map of highway.
- 3D Pointcloud Classification: Develop 3D Pointcloud Classification Network.
- Jun 2021 - Aug 2021
ROV localization using SBS(Short Baseline Sonar)
Internship in Feimabin (Qingdao) Intelligent Technology Co., Ltd., Qingdao, China
- Responsible for the design of the positioning scheme of the ship cleaning robot, and code implementation.
- Mar 2021 - May 2021
ROV sea trial for coral protection in Sourth China Sea
Harbin Engineering University underwater robot lab,
- In charge of the ROV control system design and to maintain and test. This experiment was designed to test the effect of using ROV to clean up acanthaster planci flooding in shallow waters, which feeds mainly on coral.
- Sep 2017 - Jan 2018
Pratical project of bionic UAV
Internship in Shenzhen DAMODA Intelligent Control Technology Company, Nanjing, China
- Use Solidworks to design bionic butterfly ornithopteric aircraft. Write control program, make and test the prototype.
- Jul 2018 - Oct 2018
Human gesture recognition and 3D modeling
A campus science and innovation project
- Using STM32 and six-axis inertial sensors make a wearable glove, which could colect the movement of human hand. Based on these information, Unity3D was used to build 3D models for visualization.
- Apr 2018 - Jun 2018
Motion-sensing game design based on FPGA
A campus FPGA Design Competition
- A Flappy Bird like game using FPGA, sound transducer was used to control character's movement.
- Jul 2017 - Aug 2017
Internship in AVIC Jiangxi Hongdu Aviation Industry Group Company.
AVIC Jiangxi Hongdu Aviation Industry, Nanchang, China
Skills
Skills: Robotics Related
- My interest in robotics throughout my studies, and my knowledge of the field, has led me to develop skills in the following areas:
- SLAM & mulit-sensor fusion: start with visual SLAM; and then explored the fusion of vision, sonar and IMU on underwater robot for application in underwater scenes(in my master`s studies); also have experience in LiDAR odometry, LiDAR-IMU odometry and GPS-IMU fusion for autonomous driving(at work).
- LiDAR data processing and application: handling LiDAR data in various methods, including registration, motion compentation, cluster, etc.
- Control theory: systematically studied in university, and used in many projects.
- Multi-platform development: develop on ROS and Baidu APOLLO.
- Design and execution of prototype experiments: over two years experience working cooperatively in ROV laboratory; self-motivated and tough enough to endure poor experimental environment.
- PCB design and embedded circuit programming: using STM32 series chips to develop control program in ROV and other project; also have FPGA development experience.
- Design and modeling of robot structure: in development of bionic aircraft, CAD & Solidworks was used to design the prototype.
Skills: Data Analysis and Computing
- During years of study, work and practice, the following computing abilities have been developed:
- C/C++ for development: is my primary programming language, familiar with tools and utilities available in C++(CMake, Bazel, etc.)
- Python for data processing: use python as an efficient tool for processing data and previewing new ideas; in a period of time, tried to use neural network for pointcloud classification.
- Use MATLAB to process data: used for control system simulation in some projects during undergraduate years.
- Use git to manage projects and collaborate with others: proficient in git management of project code with team.
Skills: Reading and Communication
- Keep reading papers: this is where I get new knowledge and keep up with trends.
- Collaborate and communicate with people from different backgrounds: shared workspace, materials, and knowledge.
- Language competence: proficient in English for communication, presentation and reading.
Open Source Projects
MobileGPS2PC
- Transmit mobile phone GPS to server in Baidu APOLLO module using websocket.
GIO_ODOM
- GPS IMU Fusion via ESKF in ROS.
LIGO
- A robust odometry that fused LiDAR, IMU and GPS, which can still work when different sensors join and exit.
LiDAR-IMU Calibration
- LiDAR to IMU calibration using hand-eye method.
LiDAR-IMU Extrinsic refine
- Refine extrinsic of LiDAR to IMU.
Highway mapping
- Build LiDAR pointcloud map through RTK and IMU measurements.
Grants and Awards
- 2x academic scholarships in HEU
- 1x academic scholarship in NUAA
- Second Prize in Anlu Cup FPGA Competition
- Third prize of Aircraft Design Competition
- Outstanding Student Certificate of Visual SLAM Course of Deep Blue Institute(Online course)
- 3x Runner-up of the Intercollegiate Cup Football Competition in 15/16, 16/17 and 17/18 academic year:('
Academic Interests
Robotics related
- 1. Real-time and Large-scale SLAM. I find that there is a great demand in real application scenarios.
- 2. SLAM in Dynamic Environments. I have encountered such a problem at work, we came up with a redundant solution, but I didn't like it.
- 3. Map reuse and update in dynamic environment.
- 4. Deep Learning for SLAM. Since deep learning techniques have shown great potential in various tasks. How will he applied in SLAM is exciting.
- 5. Semantic related. It is important for robots or autonomous systems to have a richer understanding of environment.
- 6. Collaborative SLAM. Multiple robots or UAVs working together to build a shared map of the environment is a promising approach to solve the localization problem in large-scale environments.
- 7. Go deeper into the robot localization method & do something challenging and interesting.
AR/VR/MR
- 1. Use sensor fusion and SLAM to improve this new method for human and computer interaction.
- 2. Any novel research and applications.
Other Interests
- Hobbies: football, cycling, reading, play electric guitar(still amateur:P)