Autonomous Space Robotics Lab

Andrew Lambert

MASc Student (Toronto)
BEng (Mechanical Engineering, McMaster)

Contact Info

Institute for Aerospace Studies
University of Toronto
4925 Dufferin Street, Room 150B
Toronto, ON
M3H 5T6
Canada

andrew.lambert [at] robotics.utias.utoronto.ca
+1 416-667-7730 (office)
+1 416-667-7799 (fax)
calendar

Research

Visual odometry (VO) has proven to be a crucial tool for accurate localization of the Mars Exploration Rovers in high-wheel-slip environments. Unfortunately, the error of VO grows super-linearly with distance, and limited computational resources on the MERs cause the processing of VO updates to be quite slow. My research focuses on techniques for improving the accuracy and efficiency of visual odometry; in particular, I am interested in incorporating alternate sensors into the visual odometry pipeline, in order to improve performance with minimal additional computational cost.

Education

M.A.Sc. Student, Aerospace Engineering, University of Toronto (September 2009 - present)

B.Eng., Mechanical Engineering, McMaster University, 2009

Publications

Conference Papers

Full-Paper-Refereed

Lambert A, Furgale P T, Barfoot T D, and Enright J. "Visual Odometry Aided by a Sun Sensor and Inclinometer". In Proceedings of the IEEE Aerospace Conference, #1279. Big Sky, Montana, USA, 5-12 March 2011. doi:10.1109/AERO.2011.5747268.

Bone G M, Lambert A, and Edwards M. "Automated Modelling and Robotic Grasping of Unknown Three-Dimensional Objects". In Proceedings of the 2008 IEEE International Conference on Robotics and Automation (ICRA), pages 292-298. Pasadena, California, USA, 19-23 May 2008. doi:10.1109/ROBOT.2008.4543223.