MM3DGS SLAM
Undergraduate Honors Thesis
Multi-modal SLAM algorithm using 3D Gaussian Splatting. Read more about it in my publications. 
Posts by Collection
portfolio
Locally Controlled 3D Generation
3D asset generation with local geometry conditioning using image diffusion and ControlNet. 3D/4D Foundation Models final project.
LiteGaze
Undergraduate Senior Design Project
AI model for redirecting eye gaze in real-time.
Minecraft with Rigid Body Physics Simulation
Recreation of Minecraft, complete with full rigid body physics and implemented portals. Computer Graphics final project. 
Stylized Dynamic NeRFs
Training pipeline to stylize 4D NeRF models with an input style image. Computer vision final project. 
The HUDset
Fall 2021 EE445L Competition Winner
AR headset from scratch under $80. 
Hana54 Keyboard
ZMK-powered BLE split keyboard with custom-designed PCB and chic 3D-printed case. Successor to my previous project, the Hana Gamepad. 
Ghost Faucet
TAMUhack 2021 Best Hardware Hack Winner
Hands-free water faucet using stepper motors and laser TOF sensors. 
publications
Robust Absolute Headset Tracking for Extended Reality
Published in 2023 IEEE/ION Position, Location and Navigation Symposium (PLANS), 2023
This paper presents a novel headset tracking frame-work designed for extended reality (XR) applications. By loosely coupling a visual simultaneous localization and mapping (SLAM) algorithm to a tightly-coupled carrier phase differential GNSS (CDGNSS) and inertial sensor subsystem, the proposed system aims to achieve centimeter-accurate, globally-referenced tracking that persists during extended periods of GNSS degradation. Collaborative and persistent XR experiences are enabled through accurate map creation utilizing a bundle adjustment approach for map generation and maintenance. Cloud or near-edge offloading of computationally demanding steps in the pipeline is explored to reduce the computational demand on the headset. This paper also explores the benefit of additional headset tracking constraints offered by direction-of-arrival measurements to nearby cellular base stations.
Recommended citation: R. M. Tenny, L. C. Sun, A. Duru and T. E. Humphreys, "Robust Absolute Headset Tracking for Extended Reality," 2023 IEEE/ION Position, Location and Navigation Symposium (PLANS), Monterey, CA, USA, 2023, pp. 1350-1362, doi: 10.1109/PLANS53410.2023.10140004.
MM3DGS SLAM: Multi-modal 3D Gaussian Splatting for SLAM Using Vision, Depth, and Inertial Measurements
Published in 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024
Our method, MM3DGS, addresses the limitations of prior neural radiance field-based representations by enabling faster rendering, scale awareness, and improved trajectory tracking. Our framework enables keyframe-based mapping and tracking utilizing loss functions that incorporate relative pose transformations from pre-integrated inertial measurements, depth estimates, and measures of photometric rendering quality. Experimental evaluation on several scenes shows a 3x improvement in tracking and 5% improvement in photometric rendering quality compared to the current 3DGS SLAM state-of-the-art, while allowing real-time rendering.
talks
Talk 1 on Relevant Topic in Your Field
Published:
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Conference Proceeding talk 3 on Relevant Topic in Your Field
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teaching
Teaching experience 1
Undergraduate course, University 1, Department, 2014
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Teaching experience 2
Workshop, University 1, Department, 2015
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