Work

A short overview of the systems I work on. Detailed implementations and results live in my portfolio; this site keeps the context and an interactive ballistic demo.

Autoware Universe · autoware_carla_interface (Maintainer)

Maintainer of the CARLA simulator bridge for Autoware, with eight merged changes across sensor timing, capture rate, timestamps, camera output, sensor noise, and gear handling.

ballistic-solver

A native intercept solver for moving targets under gravity, drag, and wind, distributed through C++, a C ABI, Python, and game-engine bindings.

Mapless Autonomous Parking

Mapless parking on a Hyundai Ioniq using FAST-LIO odometry, a C++ occupancy grid, planning, delay-aware tracking, and the vehicle CAN interface.

Monoscale

Metric odometry and dense occupancy from ordinary cameras, with scale from their mounting height. No stereo, LiDAR, learned model, or prior map; validated in CARLA and on a 5.2 km real-vehicle dataset (0.182% ATE, held out).

HERO (In development)

An exploratory parking-coaching HUD for low-vision drivers — corridor, stop-line, gear-state, and degraded-state guidance built on Monoscale perception.

Racing Telemetry Stack

A Raspberry Pi runtime for RTK/GNSS collection, buffered logs, browser monitoring, and recovery during field use.

Racing Analyze GUI

A packaged PySide6 workbench for gate-aligned timing, segment comparison, synchronized media, simulator registration, and report export.