Projects
Representative Projects
Five projects spanning numerical methods, real-vehicle autonomy, visual perception, field telemetry, and analysis tooling. Each summary links to the implementation details and measured results.
ballistic-solver C/C++ · Python · Unity/C#
Native intercept solver for moving targets under gravity, quadratic drag, and optional wind. The package combines RK4 simulation, coordinate-residual optimization, explicit diagnostics, language bindings, and edge-hardware deployment.
Mapless Autonomous Parking Hyundai Ioniq · ROS 2 · Autoware · FAST-LIO
Real-vehicle reverse-parking system without prebuilt pointcloud or vector maps. FAST-LIO odometry feeds live C++ occupancy mapping, goal-pose planning, delay-aware forward/reverse tracking, and an Autoware-compatible CAN command path.
Monoscale Visual Odometry ROS 2 · C++/CUDA · Cameras + IMU
Metric odometry and dense occupancy from ordinary monocular cameras, with scale taken from the camera's mounting height above the road. No stereo, LiDAR, learned model, prior map, or wheel encoder; cameras need not overlap.
Racing Telemetry Stack Python · Raspberry Pi · ZED-F9R · RTK/NTRIP
Car-side runtime for receiver configuration, high-rate GPS/IMU collection, correction ingestion, buffered CSV/UBX logging, remote browser monitoring, and recovery from serial or correction-stream failures.
Racing Analyze GUI Python · PySide6 · Telemetry Analysis
Packaged multi-run workbench for gate-aligned timing, segment comparison, flexible plots, synchronized media, simulator registration, and report export for circuit-driving review.
Additional Work
HERO — Low-Vision Parking Coaching
Qt HUD for parking-corridor, stop-line, gear-state, and degraded-state guidance using Monoscale perception.
Development notesEV Gear Reduction Sizing
MATLAB drivetrain sizing with torque-speed modeling and longitudinal simulation across candidate gear ratios.