ROS 2 EKF SLAM: Autonomous Landmark Mapping on TurtleBot3

ROS 2 | C++ | EKF | LiDAR | TurtleBot3 | SLAM | RViz | TF2 | Catch2

overview.

Developed a complete ROS 2 C++ mobile robotics stack from scratch, including an SE(2) geometry library, differential-drive kinematics, and a physics-accurate simulator, while implementing a real-time EKF SLAM estimator for joint state tracking of robot pose and cylindrical landmarks. The perception pipeline utilizes Pratt algebraic circle fitting for LiDAR-based obstacle detection, incorporating a robust data association logic that employs Euclidean distance gating to overcome systematic Mahalanobis distance failures caused by high initial covariance.

Open to collaboration.

I'm always interested in new opportunities and exciting projects. Whether you have a project in mind or just want to chat about tech, I'd love to hear from you.

Currently available for internships and full-time job opportunities

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