About Me

I'm a computer science PhD candidate at the Mobile Robotics Lab at McGill University, supervised by Gregory Dudek and David Meger. My research centers on 3D semantic scene understanding. Recently, I have used objects as high-level features to estimate camera pose under very large viewpoint changes. I also love web development. I led a team to build a carpooling app for Zazz Mobility, a company which I co-founded. Aquarium keeping is my main pastime. I've posted pictures of my fish. Long ago, I composed music and played the piano. My orchestral work (Voices of the Sea) was performed by the Vancouver Symphony Orchestra as part of the Jean Coulthard Readings.

Research Projects

Pose Estimation for Disparate Views

Given RGB images from two far-apart views, I estimate the scale and pose of co-visible objects, while simultaneously estimating the 6-dof camera transformation. Related publications: [CRV'18] [IROS'17a]

Unsupervised Learning of Semantic Spatial Relationships

Given a set of scenes containing unlabeled object bounding cuboids, our system learns a set of semantically-meaning spatial concepts that match closely with notions like left, right, on, or facing. Related publication: [ICRA'16]

The Aqua Project

I work with Aqua, a family of amphibious hexapod robots. I have contributed to its vision system, the human-robot interaction layer, and have led numerous dives in which we deployed the robot along the coast of Barbados. The picture above shows me diving with Aqua. See project page. Related publications: [JFR'17] [IROS'17b] [FSR'16] .

Graphical State Space Programming (GSSP)

GSSP is a framework for robot task specification, which allows the user to graphically specify constrains on the robot's state space, and attach procedural code blocks that execute when constraints are satisfied. This approach simplifies the specification of spatial constraints, while maintaining the expressivity of textual code. See project page and video. Related publication: [ICRA'11]

Publications

Journals

Refereed Conference Papers