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David Akhihiero
Junior Robotics Researcher specializing in SLAM, localization, and multi-robot navigation
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About
Robotics software engineer with internship experience at Lucid Motors building a mapping/localization pipeline that fuses LiDAR, camera, and GPS into high-fidelity 3D maps for autonomy/ADAS. Strong in SLAM and multi-robot systems—has modified ROS/ROS2 SLAM packages (FAST-LIO2, LIO-SAM) at the source level, optimized real-time multi-drone coordination for low-latency data sharing, and used Gazebo + Docker to simulate and deploy research robotics stacks.
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Key Strengths
- Built mapping/localization pipeline using LiDAR, camera, and GPS for high-fidelity 3D maps (ADAS/autonomy)
- Solved difficult calibration and synchronization issues (LiDAR-IMU extrinsics, GPS-referenced time alignment)
- Hands-on ROS/ROS2 SLAM integration and source-level modification (e.g., exposing hard-coded noise parameters in LIO-SAM)
- Real-time multi-drone coordination optimization (reduced latency, timestamp matching, improved flight stability)
- Heterogeneous robot communication design (UAV/UGV state estimate sharing with range constraints)
- Simulation-driven development using Gazebo (cave/mine mapping + relocalization testing)
- Reproducible robotics environments via Docker containers for ROS packages
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1 publication
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