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Roboticist and perception engineer. I love the intersection of cameras, code, and clever algorithms.
Featured Projects
View all →Clean and Neat Implementation of Zhang's Checkerboard calibration
Clean C++ Implementation of Zhang's Calibration method.
IPT: Infrastructure Perception, Tracking, and Event Analytics
Infrastructure-based 3D perception stack for roadside autonomy, BEV tracking, multi-camera projection, and traffic risk analytics
LiftDepth Risk: Road-Aware Monocular BEV Occupancy and Object Risk
A camera-only perception pipeline that turns KITTI driving video into metric depth, road-aware BEV occupancy, tracked object footprints, and object-aware risk heatmaps.
Recent Writing
All posts →Intuitive understanding of backpropogation
Understanding backpropagation without getting lost in calculus
[Paper review] Single-image camera calibration with model-free distortion correction
Explains a single-image camera calibration method that outperforms Zhang’s method by estimating distortion and intrinsics more accurately using dense image data.
How does a lidar work ?
diving deep into lidar intricacies
"The best way to learn is to build something, break it, then write about it."
— something I keep telling myself