Building production-grade UAV autonomy, multi-camera pipelines, and zero-copy perception systems.
I architect and deliver systems across the full stack—from flight-control integration and sensor timing to high-throughput camera data paths and board-side production on embedded Linux. My focus is removing unnecessary copies, making timing and ownership explicit, and turning prototypes into observable, testable production systems.
- Embedded multi-camera pipelines — Design and optimize V4L2 / DMA-BUF capture graphs on RK3588, with RGA and OpenCL acceleration, fisheye rectification, and atlas / ROI layouts for downstream perception.
- Zero-copy visual-inertial data paths — Feed rectified grayscale frames directly into VINS through typed buffer ownership, Unix-domain FD passing, and explicit lease / ACK lifecycles, avoiding ROS image serialization on the hot path.
- Triggering and sensor timing — Define hardware-trigger ownership, synchronization sequences, timestamp domains, and camera–IMU alignment across device time, PPS, PTP, and PHC.
- UAV autonomy — Integrate PX4, MAVLink, Cyphal, ROS / ROS 2, localization, perception, and companion-computer services.
- Production delivery — Replace hard-coded runtime settings with versioned profiles and fail-fast validation, then carry changes through ARM64 builds, CI, packaging, board deployment, live measurements, and fault diagnosis.
I prefer single-owner data paths, typed contracts, explicit failure, staged migration, and evidence from real hardware.
