Yucong L.
Senior Software Engineer @Woven by Toyota
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WORK HISTORY
Senior Software Engineer @Woven by Toyota
Ann Arbor, MI, US
LiDAR Extrinsic Calibration:1. Analyzed LiDAR scan matches and defined strategies for matching within and across frames.2. Implemented heuristics to reject incorrect scan matches.LiDAR based Mapping:1. designed and implemented heuristics to reject incorrect scan matches.2. designed and implemented a learning based method to better reject incorrect scan matches. Implemented robust handling for odometry resets in the data.4. Optimized memory and disk usage for raster generation.Postprocessor for the Learning based Map Generator1. Aligned output maps with LiDAR lane marking detections with a factor graph.2. Evaluated the effectiveness of the postprocessor using quantitative metrics.Localization for spatial labeling.1. implemented the coarse localizer module from scratch.2. improved different modules by improving different data association heuristics.3. helped to deliver x frames of labels with y % acceptance rate.4. Improved the localization robustness in different weathers by aligning LiDAR feature points to maps.SLAM problem of the Automated Mapping Platform (continue the work in TRI). Keep improving the performance of the SLAM pipeline. Selected examples of actual work:1. developed new algorithms for data association.2. derived models and implemented new factors and nodes for road crown estimation.3. improved some factors\' noise model in the factor graph.4. improved the SLAM pipeline\'s performance to deal with challenging situations such as multi-level roads.5. delivered several map releases with real world consumer vehicle\'s probe data. The maps include challenging environment such as tunnels, multi level roads, etc.
EDUCATION
Arizona State University
Ph.D., Exploration System Design ( Robotics concentration)
University of Science and Technology of China
Bachelor of Science, Astrophysics
SKILLS
ABOUT YUCONG L.
I am an experienced hands-on robotics software engineer working on practical problems with real world data.My recent experiences (Woven, TRI, Qcraft) have been related to State Estimation in Robotics. That includes mapping, localization, and sensor calibration. I have previous experience in object tracking when I worked in Ford. I worked on different large scale code base for autonomous vehicle development in different companies. My PhD work is mainly on path planning for Unmanned Aerial Vehicles. I also worked on image processing in the first year. I had hands-on experience building UAVs during PhD.
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