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Jitesh Sonkusare
Junior Robotics Software Engineer specializing in SLAM, autonomy, and perception
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About
Lead Robotics Software Engineer (forREAL, inc.) who built a production-ready indoor 3D reconstruction + autonomy stack: factor-graph multi-sensor SLAM (GTSAM), Gaussian-splatting virtual tours, RRT* planning over voxelized reconstructions, and 3D object anchoring using Grounding DINO + SAM2. Has deployed ROS2 systems across drones, AMRs, and ADAS simulation (CARLA), and supported multi-robot surgical platforms at Noah Medical using DDS namespaces/topic remapping.
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Key Strengths
- Designed and implemented real-time factor-graph multi-sensor SLAM (RGB/LiDAR/IMU) with loop closures using GTSAM
- Built end-to-end autonomy pipeline combining SLAM, 3D reconstruction (Gaussian splatting), planning (RRT*), and 3D perception/anchoring
- Strong real-time debugging and tuning in ROS2 navigation stacks (Cartographer + exploration) to reduce replanning/hesitation
- Hands-on ROS1/ROS2 node development across multiple platforms (quadruped, drone, AMR, ADAS vehicle) with simulation-to-hardware validation
- Experience scaling multi-robot systems using DDS with namespaces/topic remapping for isolation and shared infrastructure
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Publications
3 publications
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