I am a postdoctoral fellow at the Institute of Robotics and Intelligent Machines (IRIM) at Georgia Tech, working with Prof. Frank Dellaert on topics that combine mobile robotics and computer vision. Please refer to the Research and Publications pages for further details.

Before joining Georgia Tech, I finished my Ph.D. degree at the Technion - Israel Institute of Technology, where I was supervised by Profs. Pini Gurfil, Ehud Rivlin and Dr. Hector Rotstein. My Ph.D. research focused on several topics in vision-aided navigation and distributed cooperative navigation.

>> I will be soon assuming an Assistant Professor position in Aerospace Engineering Department at the Technion - Israel Institute of Technology.
>> I am looking for MSc and PhD students - contact me for details!!


Recent News (refer to publications for more details)

April 2014: I will be co-chairing 2 sessions at ICRA 2014: (a) SLAM: Visual Odometry; (b) Path planning: Multiple Mobile Robots and Agents.

March 2014: I am co-organizing the 2nd workshop on Multiple VIew Geometry in RObotics (MVIGRO), in conjunction with RSS 2014. Please consider submitting a paper!

March 2014: The paper Concurrent Filtering and Smoothing: A Parallel Architecture for Real-Time Navigation and Full Smoothing has been accepted to the International Journal of Robotics Research (IJRR).

January 2014: 3 papers got accepted to ICRA 2014!
- Planning Under Uncertainty in the Continuous Domain: a Generalized Belief Space Approach
- Multi-Robot Pose Graph Localization and Data Association from Unknown Initial Relative Poses via Expectation Maximization
- Eliminating Conditionally Independent Sets in Factor Graphs: A Unifying Perspective based on Smart Factors

October 2013: The paper "Towards Planning in Generalized Belief Space" is accepted to International Symposium on Robotics Research (ISRR) 2013.

August 2013: Incremental Light Bundle Adjustment - code & datasets are now publicly available.

July 2013: Incremental Light Bundle Adjustment for Robotics Navigation paper is accepted to IROS 2013.

May 2013: Our paper - Information Fusion in Navigation Systems via Factor Graph Based Incremental Smoothing - has been accepted to Robotics and Autonomous Systems (RAS) and is now published online.

March 2013: I am co-organizing a workshop on Multiple VIew Geometry in RObotics (MVIGRO), in conjunction with RSS 2013. Please consider submitting a paper!

March 2013: I received the Israeli Merhav award for top PhD research in GNC-related areas.

January 2013: Got  best poster award for the WoRV paper probabilistic analysis of incremental light bundle adjustment (iLBA).

January 2013: DDF-SAM 2.0: Consistent Distributed Smoothing and Mapping paper got accepted to ICRA 2013.

December 2012: I am a Program Committee member of RSS 2013.

November 2012: Our paper on probabilistic analysis of incremental light bundle adjustment (iLBA) is accepted to the 2013 IEEE Workshop on Robot Vision.

November 2012: Anti-Factor down-dating for consistent decentralized graphical SLAM was introduced in our SSRR paper.

August 2012: Graph based distributed cooperative navigation paper is published in IJRR.

July 2012: Our incremental light bundle adjustment (iLBA) paper is accepted to BMVC conference.

July 2012: Vision-aided navigation based on three-view constraints paper is published in TAES.

June 2012: Distributed vision-aided cooperative localization and navigation based on three-view constraints paper is published in RAS.

May 2012: We have two papers accepted to the 2012 Fusion conference: concurrent smoothing and filtering, and factor graph based smoothing in inertial navigation systems.