Perception and autonomy — robots, inspection systems, and models that have to run on the machine.

autoJetsonBot

Mobile robot · ROS 2/Video

A Jetson Nano B01 robot with an ESP32 motor bridge, RPLidar, wheel-encoder odometry, and an MPU6050 fused into the estimate. Mapping with slam_toolbox, localization with AMCL, and Nav2 — same stack in Gazebo and on the chassis. Web dashboard for teleop and live scans.

Hardware + Gazebo · SLAM and Nav2

Driver monitoring on the edge

On-device perception · Jetson

Head pose, facial landmarks, and seatbelt detection on grayscale day-and-night video, compiled to TensorRT and run on NVIDIA Jetson.

Day and night · TensorRT on device

Wafer defect inspection

Industrial perception · HyVision

Detection, segmentation, and anomaly models for 8-inch and 12-inch wafers, deployed on industrial GPUs inside the inspection tool.

In production · high precision · low false-positive rate

Consumer electronics inspection

Industrial perception · HyVision

An end-to-end AOI pipeline — segmentation, detection, classification — at line speed on glass and metal enclosure parts for a tier-1 manufacturer.

Line speed on AOI equipment · fine-grained defects

LabelMeV2

Annotation tooling

A fork of labelme for large industrial images: faster load on big TIFF/JPG, 5000% zoom for small defects, and extra polygon editing. Published on PyPI.

Open source · pip install labelmev2

3D human avatars

3D perception · AIVAR

From a single photograph to a textured 3D face and body, using morphable models (FLAME, SMPL), diffusion-based correction, and neural texture-matching. Deployed on AWS.

IP image verification

Retrieval · AIVAR

A vector-search system for animation-character and logo protection: embed a query image, find near-duplicates, return a decision. Built for a government-backed digital IP project.