Software
Research software for visual SLAM and robot navigation.
I develop and maintain software that connects perception algorithms to robotic systems. These repositories include sensor configuration, coordinate transforms, ROS interfaces and documentation for other developers.
ORB-SLAM3 integrations
orb_slam3_ros · orb_slam3_ros_wrapper
ROS integrations for ORB-SLAM3. My work includes camera and inertial configuration, pose and point-cloud outputs, map services, Docker support and setup guidance. The underlying SLAM algorithm is ORB-SLAM3.
External-vision navigation
Interfaces between visual odometry and flight controllers using MAVROS/MAVLink, with RealSense and AprilTag workflows. I developed the integrations and provided installation guidance and community support.
ArduPilot documentation
The official ArduPilot guide documents the tracking-camera workflow using this software. The repository README links both ROS and standalone Python examples.
GPU visual SLAM on Jetson
An adaptation of an existing GPU-enhanced ORB-SLAM2 implementation for NVIDIA Jetson TX1. I resolved CUDA/OpenCV compatibility issues and added ROS outputs for poses, point clouds, transforms and camera frames.