About me
I am currently a software engineer at Aurora, where I develop state estimation algorithms for autonomous vehicles.
Prior to joining Aurora, I worked at Carnegie Robotics, where I worked primarily on localization and mapping for outdoor mobile robots.
I did my undergraduate and Master’s studies at CMU in the Department of Mathematical Sciences, and have been working in the software industry since.
On this website you’ll find miscellaneous notes and writeups that I’ve found useful in my work and that I think may be useful to others.
Contact
My Documents
Notes
- (WIP) A Quick and Practical Intro to Matrix Lie Groups
- Computing the Exponential Map on SO(3)
- Note on Frames and the Adjoint Representation
- Note on Jacobians of Functions on Lie Groups
- Note on the Derivative of the Group Action
- An Intuitive Explanation of the Kalman Update
- Restricting Motion Along Tangent Directions in Bundle Adjustment
Miscellaneous
- My Master’s thesis on sticky particle dynamics.
External Links
- Ethan Eade’s website contains a wealth of useful documents relating to Lie groups and estimation more broadly.