Projects

Here are some projects before 2012. Recent projects can be found in RSL website.

[2009.1 ~ present]

1. SLAMSAT (Searching and Tracking conditioned on SLAM)

[2008.1~2008.12, ITRI]

2. Intelligent Localization, Control and Navigation Technology

3. Intelligent underwater navigation and collision avoidance Technology

4. 3D vSLAM for auto parking (Project Leader)

[2007.1~2007.12, ITRI]

5. Dynamic Bayesian Network for Detection of Blind Spot and Parking of Vehicle (Project Leader)

6. Power Aided and Localization & Control Technology

7. Developing an electric control module of balanceable two wheel toy robot

[2006.1~2006.12, ITRI & MIT]

8. mobile-platform control and application technologies

9. Development of Simultaneous Localization and Mapping (SLAM) for Security Robot (International Cooperation Project with MIT CSAIL)

[2005.1~2005.12, ITRI]

10. Development of differential mobile platform

11. Development of omni-direction mobile platform

[2002.6~2004.9, NTU]

12. Design and Control of Quadruped Robot Using Integrated Analog and Digital Circuits

SLAMSAT(Searching and Tracking conditioned on SLAM)

SLAMSAT is an algorithm for a robot to localize itself, localize the environment, track the people in view and search the people out of sight. People searching and tracking (SAT) is a key technology for interactive robots since the tracked people are sheltered by environments frequently. For robots, it is a tracking problem given that the target is observable, but otherwise it is a searching problem. Traditional tracking algorithms may lead to divergent estimation of object position when moving objects are unobservable. Moreover, SAT conditioned on simultaneous localization and mapping (SLAM) is complex since it aims at estimating people position, robot position, and map under sensor uncertainty. Motivated by this, we propose a novel stream functions and Rao-Blackwellised particle filter based SAT algorithm. This laser based algorithm is conditioned on simultaneous localization and mapping (SLAMSAT) to search and track people. With this, the position of the targeted person sheltered by the environment can be successfully estimated by the virtual stream field in a mapping environment.

Check the video for current project state. The red rectangle is estimated people position. The red circle is estimated people goal.

People Searching and Tracking

[Past Projects]

I had been involved in 12 robotic projects during past 7.5 years in NTU, ITRI and MIT CSAIL.

I learned how to design mechanical parts of robots using CAD software (AutoCAD/ SoildWorks).

I learned how to control robots using Micro controller (ATMEL/Silicon Labs 8051), DSP (TI TMS320 28XX Series) and FPGA.

I learned how to program bayesian algorithms (Kalman Filter/Particle Filter/RBPF) for localization, mapping, people tracking and searching.

It turned out to be even more interesting than I thought it would be!