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Abinav Anantharaman
Mid-level Robotics Software Engineer specializing in perception, sensor fusion, and motion planning
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About
Robotics/Perception Software Engineer at Berkshire Grey who built and hardened a production ROS-based perception + supervision stack for autonomous trailer-unloading robots (RGB-D + LiDAR), including grasp/geometry estimation and segmentation. Diagnosed real-time behavior issues by instrumenting ROS pipelines, then implemented runtime RANSAC-based compensation for LiDAR yaw bias and TF-window validation; also supports containerized deployment on Kubernetes and is actively porting the system from ROS1 to ROS2.
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Key Strengths
- Production ROS1 perception stack development in C++ for autonomous trailer unloading
- Deep point-cloud and geometry estimation expertise (PCL/Eigen/TF, ROI filtering, RANSAC fitting)
- Real-time system debugging via end-to-end instrumentation (timestamps/logs, latency and TF window tracing)
- Implemented runtime mitigation for LiDAR yaw calibration bias and improved perception stability
- Designed deterministic multi-sensor synchronization using trigger-timestamp alignment with timeouts/fallbacks
- Focus on production robustness: validation, edge-case handling (partial occlusions), logging/metrics for field diagnosis
- Experience deploying and operating robotics/perception services on Docker + Kubernetes in production
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