Milo Henry Lovelace Knowles

Milo Henry Lovelace Knowles
MIT AeroAstro | Lincoln Laboratory Undergraduate Research and Innovation Scholar
Advisor: Nicholas Roy
Department: EECS
Years: 2018-2019
Research Project Title:

Robust Data Association for Object-Level SLAM

abstract:We conduct a comprehensive performance comparison of descriptor-based data association methods for object-level SLAM. Based on our findings, we design a visual bag-of-words descriptor from Oriented FAST and Rotated BRIEF descriptors extracted from object bounding boxes. To disambiguate between perceptually similar objects and improve the efficiency of our algorithm, we incorporate a heuristic for filtering associations based on geometric information from the robot pose and object map. We show that our bag-of-words approach with geometric filtering outperforms the precision, recall, and runtime of baseline descriptor matching methods on 21 challenging driving sequences from the KITTI Tracking Dataset.
About:

“Working as UROP student in the Robust Robotics Group for the past two years has given me a lot of exposure to current research in autonomous robotics, especially perception. I'm excited to continue exploring this area of robotics through SuperUROP and publish or present results.”