I'm interested in navigation for robotics and state-estimation in general, and have worked a wide variety of robotic platforms before/during/after thesis research (2009-2010 & 2012-2017) from both the University of Johannesburg and MIT / Woods Hole Oceanographic Institute joint Program. I'm currently continuing research with the MIT Computer Science and Artificial Intelligence Laboratory, and a supporter of more open-source development for progress in both scientific and business development.
Non-Gaussian State-estimation with JuliaRobotics/Caesar.jl
Navigation and mapping for robots require data fusion from various sensors, each producing uncertain and opportunistic measurement data.
We are continuing with a multi-year, native Julia factor graph based simultaneous localization and mapping (SLAM) inference system that grew out of research work on non-Gaussian state-estimation, and is the primary implementation of the "multimodal-iSAM" algorithm from robotics literature.