research Sparse 3D LiDAR & Dynamic-Scene Planning PhD research on programmable 3D sensing, dynamic object estimation, and adaptive motion planning. industry RBLAM — Reflector-Based Localization Sole inventor of production-grade reflector-based localization and mapping, deployed at industrial customer sites. Off-Road Autonomous Navigation Team lead for India's first off-road autonomous navigation system on a tracked platform (DRDO). Localizability-Aware Fail-Safe Localization R&D lead for a novel localizability estimation module enabling robust multi-modal localization in dynamic indoor environments. Visual-Inertial Odometry 15-DoF VIO state estimation and research on DNN-based stable visual-inertial odometry for dynamic indoor environments. Feature SLAM & Map Management Feature-based SLAM with online map switching and AdaBoost loop closure for ultra-large dynamic environments.
