I am a Research Scientist in the Computer Science and Artificial Intelligence Laboratory (CSAIL) at MIT. I work with Professor John Leonard and am interested in probabilistic methods for localization, tracking and mapping. If you’re interested in my research you can find more information here.

Latest News

• May 2012: Our Kinect Localization paper has been accepted for ICRA in May 2012.
• April 2012: Overview of the multi-year Feature Based AUV Navigation project has been accepted for publication by the Journal of Ocean Engineering
• April 2012: High speed localization using only a Kinect at 5m/s. Yes that’s me running like a crazy thing!
• Performance: http://www.youtube.com/watch?v=q-ePN1nD6Ms
• Overhead video:  http://www.youtube.com/watch?v=taj2Ct_lqI4
• Raw video: http://www.youtube.com/watch?v=-zDRKbsv_Ks
• Feb 2012: A journal paper of work from my PhD has just been published in IEEE Transactions on Audio, Speech, and Language Processing. You can now view it electronically now. It’s entitled “Acoustic Source Localisation and Tracking of a Time-Varying Number of Speakers”.
• Sept 2011: We’ve had a great response about our work on 3D Kinect localization. Check out our videos. I’m looking forward to working with the folks at PCL on this at part of a code sprint sponsored by Toyota.
• May 2011: My paper with Hordur, Michael and John was nominated for one of the best paper awards at ICRA 2011 – one of 20 nominees out of 2000 submission. The approach combined sonar and acoustic AUV navigation within a single smoothing framework. Read the paper here.

Background

I was a PhD student in the Signal Processing Group at the Department of Engineering of the University of Cambridge. Simon Godsill was my supervisor with Andrew Blake as my industrial supervisor at Microsoft Research – who kindly funded my PhD studies. I completed my undergraduate degree in Electronic Engineering (BEng) in University College Dublin (Ireland) in June 2004 where I worked with Scott Rickard.

Click here for some research results from my PhD.

Publications

•  Click here for my publications list.