Hi!
I’m a PhD student at the Underwater Robotics Lab of University of Girona. My main research interests include exploiting sensor perception for autonomous navigation and manipulation in challenging scenarios. I’m currently working on graph SLAM and investigating novel non-rigid data association methods to recover true object shape out of distorted 3D scans.
Interests
- Sensor Perception
- SLAM
- Optimization
Education
PhD in Robotics, 2022
University of Girona (Spain)
MSc in Robotics, 2018
KU Leuven (Belgium)
BSc in Industrial Engineering, 2015
University of Zaragoza (Spain)
Projects
Research experience
PhD Researcher
Enabling underwater robots to use range data from laser-based sensors for mapping and manipulation tasks. To this end we built an underwater laser scanner, which allowed me to face challenges ranging from sensor calibration to integration in autonomous platforms.
Visiting Researcher
Presented a new non-rigid point cloud registration algorithm that corrects motion distortion in dynamic scans, improving accuracy of localization and mapping tasks.
MSc Thesis
Developed a vision-based algorithm capable of reconstructing full-field vibrations of mechanical structures based on observations of natural-frequency deformations.
Research intern
Trained a ML classifier to assign ripeness category to berries detected by the autonomous strawberry picking robot.
BSc thesis
Compared different feature-based strategies to match 2D floor plan LiDAR scans for autonomous navigation.