Bear Robotics
As a Software Engineer Intern at Bear Robotics, I worked on the navigation stack of Servi, an autonomous serving robot for restaurants. My focus was mapping and localization: replacing the filter-based SLAM with a graph-based approach and evaluating visual SLAM algorithms on the robot.
Graph-based SLAM
Integrated a more robust, noise-tolerant graph-based SLAM algorithm on Servi, moving away from the previous filter-based approach. The result was more consistent maps at a lower computational cost.
Visual SLAM evaluation
Ran experiments applying open-source visual SLAM algorithms, ORB-SLAM3 and UcoSLAM, to the robot’s cameras and compared their mapping and localization quality against the LiDAR-based pipeline.