I am a Research Engineer at the Honda Research Institute (HRI) USA, where I work on 3D Scene Understanding and Multi-agent interaction modeling related topics for Autonomous Driving Car. I also work on the multi sensor synchronization, calibration and fusion.
I'm interested in robotics, computer vision and machine learning. Much of my research is about understanding the surrounding environment of the robot/self-driving car from multi-sensors (lidar, camera, gps/imu).
LOKI: Long Term and Key Intentions for Trajectory Prediction
Harshayu Girase*, Haiming Gang*, Srikanth Malla, Jiachen Li, Akira Kanehara, Karttikeya Mangalam, Chiho Choi
International Conference on Computer Vision(ICCV), 2021
Propose LOKI (LOng term and Key Intentions), a novel large-scale dataset that is designed to tackle joint trajectory andintention prediction for heterogeneous traffic agents (pedestrians and vehicles) in an autonomous driving setting.
The H3D Dataset for Full-Surround 3D Multi-Object Detection and Tracking in Crowded Urban Scenes
Abhishek Patil, Srikanth Malla, Haiming Gang, Yi-Ting Chen
International Conference on Robotics and Automation(ICRA), 2019
Present the Honda Research Institute 3D Dataset (H3D), a large-scale full-surround 3D multi-object detection and tracking dataset collected using a 3D LiDAR scanner.
The projects that I have worked with
Autonomous Domestic Assistant Robot
NYU : MS project
The project developed a mobile robotic system combined with a manipulator, image processing and motion planning with mobile devices to assist human in an indoor environment. The project utilizes a Microsoft Kinect, three microcontrollers, a mobile phone, a mobile robot base and an arm robot.
Multi-Manipulator Collaboration based on Object Detection
NYU : Robotic Gait and Manipulation
Control the collaboration of multiple simple DOF manipulators for picking and placing tasks based on object recognition using Linemod provided by ORK (Object Recognition Kitchen) library with ROS.
Haar Feature Object Recognition and Manipulation
NYU : MS project
This project developed an image processing-based object recognition and manipulation system with a 5-DOF smart robotic arm through a smartphone interface considering human user’s intent sensing.
NYU : Advanced Mechatronics
This project developed a device that converted the alphabet characters to the braille display system to help people who are visually impaired read the text.
NYU : Robots for Disability
We developed “Tot Bot” robot, which enables a kid to see its surrounding on the tablet screen and then reach a selected point by a touch on the screen.
Smart Mirror: Automatic Defog and Display
NYU : Mechatronics
This project developed a Smart Mirror which automatically defogs and wipes moisture from its surface as well as displaying date, time, and a news headline.