I am currently working as an AI Engineer at Zipline International with a focus on 3D perception and mapping. I specialize in 3D computer vision, large scale mapping, and sensing.
As a Master of Science student (July 2018 to May 2020) at The Robotics Institute, Carnegie Mellon University, I worked with professor Nathan Michael at the Resilient Intelligent Systems Lab (RISLab). I obtained my Bachelor of Technology (B.Tech) from the Indian Institute of Technology, Guwahati in 2016 with a major in Mechanical Engineering.
My primary research interest is high fidelity 3D perception, mapping and localization on autonomous systems. To this end, my research work at CMU and at Shield AI has focused on developing real-time solutions for SLAM in large scale unknown environments on embedded systems.
Email: adityadhawale6@gmail.com
Research
GFusion: Multi-Fidelity Dense SLAM with Gaussian Distributions
A. Dhawale, K. Shaurya Shankar, N. Michael
Efficient Parametric Multi-Fidelity Surface Mapping
A. Dhawale, N. Michael
Reactive Collision Avoidance Using Real-Time Local Gaussian Mixture Model Maps [pdf, video]
A. Dhawale, X. Yang, N. Michael
Fast and Agile Vision-Based Flight with Teleoperation and Collision Avoidance on a Multirotor [pdf, video]
A. E. Spitzer, X. Yang, J. W. Yao, A. Dhawale, K. Goel, M. Dabhi, M. Collins, C. Boirum, and N. Michael
Here, we presented a multirotor architecture capable of aggressive autonomous flight and collision-free teleoperation in unstructured, GPS-denied environments. The proposed system enables aggressive and safe autonomous flight around clutter by integrating recent advancements in visual-inertial state estimation and teleoperation. Our system enables a non-expert operator to safely navigate a multirotor around obstacles at speeds of 10 m/s and achieve autonomous flights at speeds exceeding 12 m/s.
Fast Monte-Carlo Localization on Aerial Vehicles Using Approximate Continuous Belief Distributions [pdf, video]
A. Dhawale, K. Shaurya Shankar, N. Michael