Autonomous Quadrotor Flight Using Onboard RGB-D Visual Odometry

We present an on-board navigation system for Micro Aerial Vehicles (MAV) based on information provided by a visual odometry algorithm processing data from an RGB-D camera.

Incremental Registration of RGB-D Images

We present a real-time technique for 6-DoF camera pose estimation through the incremental registration of RGB-D images.


In 2011, a new intelligent ground vehicle CATA (City Autonomous Transportation Agent) was rebuilt to employ the ROS framework to participate in IGVC.


In 2010, our intelligent ground vehicle CityALIEN participated and won the IGVC Design Challenge.

Surveyor SRV-1 Driver and GUI Remote Control

As part of my Research Experience for Undergraduates, I developed a Player/Stage driver and remote controller for the mobile robot.