Projects | Christopher Grebe

Trimble's L4 autonomous compactor stopping for crouched person during a demo at Bauma 2022 in Munich [photo credit].

Perception for L4 Autonomous Compactor

Led perception algorithm R&D for Trimble’s L4 autonomous compactor project. Contributed novelly to perception capabilities in harsh environments. Click here for information on our first deployment to the Site C Clean Energy Project on the Peace River in northeast British Columbia in summer 2023.

Collection of the mutli-UAV datset using Neptec's OPAL lidar.

Lidar-Based UAV Tracking

Performed multi-UAV tracking based on lidar point cloud data through filter-based state estimation, data association and outlier rejection. Lidar sensors provide the ability to effectively and spatially locate UAVs in areas such as airports where unaccounted for UAVs pose a significant risk to the general public.

Top down view of results (left) and experimental setup (right).

Radar-Camera EKF

Implemented a radar-camera EKF with data association and outlier rejection for the course AER 1513H State Estimation for Aerospace Vehicles. Project utilized a Continental ARS4-A 2D automotive radar and simulated camera data to estimate the position of a radar corner reflector. Ground truth data was obtained using a Vicon motion capture system. Additional results for this project can be seen via video or report.

Patent drawing.

Automotive Lidar R&D

Contributions to R&D of automotive lidar sensor resulted in increased sensor performance. See the international patent application for public information.

In field data collection.

Lidar for Security Applications

Modeled, simulated and experimentally verified OPAL Lidar viability in various applications. Publicly available information can be found in the paper Aerial and Surface Security Applications Using Lidar. The image was taken during field testing.

ONOS architecture.

Software Defined Networking

Worked on software development project with the Optical Networking Unit involving Nokia’s Photonic Service Switch (PSS) and open source Open Network Operating System (ONOS). (photo credit: opennetworking.org)

Epipolar geometry-based RANSAC (top) and multi-vehicle tracking using lidar (bottom).

Perception for Self Driving

Various perception work on the KITTI Dataset completed for the course AER 1515H Perception for Robotics. Work included stereo vision feature detection, matching and outlier rejection through epipolar geometry-based RANSAC as well as multi-vehicle tracking using lidar.

Sensor mount (left) and top-down FOV coverage (right).

Sensor-Based Automotive Mirror

Replaced the side mirror of a car with a low cost camera and Lidar sensor for an undergraduate project. A display mounted inside the car provides the driver with a mirror feed overlayed with detected vehicles and a colored warning system based on the speed of the passing vehicle.

Sensor configuration.

Ultrasonic Detection and Reconstruction

Worked on acoustic sensing with the MicroNano Mechatronic Lab. Developed the sensor hardware, software and signal processing pipeline to perform object detection and reconstruction using inexpensive acoustic sensing.