About me
I am a first-year Ph.D. student in Computer Science at the University of Southern California, working with Prof. Gaurav Sukhatme in the Robotic Embedded Systems Laboratory (RESL). My research interests lie in Localization, Active Exploration, Multi-Robot Systems.
I earned my M.S. degree in Robotics from Carnegie Mellon University, where I was advised by Prof. Sebastian Scherer in the AirLab. Before that, I completed a B.S. in Electrical and Computer Engineering with a major in Robotics at CMU, working in the Biorobotics Lab under Prof. Howie Choset.
Research
Automerge: A framework for map assembling and smoothing in city-scale environments
Peng Yin, Shiqi Zhao, Haowen Lai, Ruohai Ge, Ji Zhang, Howie Choset, Sebastian Scherer
IEEE Transactions on Robotics (T-RO), 2023
A framework for assembling LiDAR map segments into a complete map.
Peng Yin, Shiqi Zhao, Haowen Lai, Ruohai Ge, Ji Zhang, Howie Choset, Sebastian Scherer
IEEE Transactions on Robotics (T-RO), 2023
A framework for assembling LiDAR map segments into a complete map.
ALITA: A Large-scale Incremental Dataset for Long-term Autonomy
Project Page Manuscript Dataset
A long-term place recognition dataset for mobile localization in dynamic environments, including campus and city tracks. The campus track is recorded on 10 trajectories. Each is recorded 8 times under variant illumination conditions. The city track is recorded on 120km trajectory.
Project Page Manuscript Dataset
A long-term place recognition dataset for mobile localization in dynamic environments, including campus and city tracks. The campus track is recorded on 10 trajectories. Each is recorded 8 times under variant illumination conditions. The city track is recorded on 120km trajectory.
Real-Time Visual Localization System in Changing and Challenging Environments via Visual Place Recognition
Master's Thesis, 2022
Report Presentation Demo1 Demo2
This system excels in real-time visual localization, handling challenges like illumination changes, dynamic objects, and random starting points.
Master's Thesis, 2022
Report Presentation Demo1 Demo2
This system excels in real-time visual localization, handling challenges like illumination changes, dynamic objects, and random starting points.
Projects
Brachiation Robot
BioRobotics Lab, Carnegie Mellon University
May 2019 - Sep 2019
Manuscript Demo
Assisted in design and implementation of a three-Link brachiation robot with optimal control based trajectory tracking controller.
BioRobotics Lab, Carnegie Mellon University
May 2019 - Sep 2019
Manuscript Demo
Assisted in design and implementation of a three-Link brachiation robot with optimal control based trajectory tracking controller.
Embedded Visual Processing
BioRobotics Lab, Carnegie Mellon University
Jun 2019 - Dec 2019
Fastener Classification Laser Extraction
Did image classification, feature detection and laser extraction on fasteners on an embedded platform (i.MX RT1064).
BioRobotics Lab, Carnegie Mellon University
Jun 2019 - Dec 2019
Fastener Classification Laser Extraction
Did image classification, feature detection and laser extraction on fasteners on an embedded platform (i.MX RT1064).
Robotic Block Builder
CMU 16-264 Humanoids
Feb 2019 - May 2019
Demo Simulation Code
Built a robotic arm for building and adjusting blocks with AI reasoning and computer vision.
CMU 16-264 Humanoids
Feb 2019 - May 2019
Demo Simulation Code
Built a robotic arm for building and adjusting blocks with AI reasoning and computer vision.
Services
Workshop Organization
- Co-organizer of Workshop Competition - Closing the Loop on Localization, IROS 2023
- Co-organizer of General Place Recognition Competition, ICRA 2022
Teaching
- 18-500 ECE Design Experience , TA, CMU, 2020
- 16-311 Introduction to Robotics , TA, CMU, 2020
- 16-311 Introduction to Robotics , TA, CMU, 2019
- 82-242 Intermediate Spanish II , TA, CMU, 2018