Daniel Lawrence Lu

===

pic lidar2.png Point Cloud : I work on algorithms for 3D mapping with lidar.

I am an engineer, roboticist, and programmer.

* **2016-- present**: [Ouster, Inc.](http://ouster.io/) Software Engineer, Mapping

I am interested in robot perception and localization, computer vision, and machine learning. 

In my spare time, I like to [contribute to Wikipedia](https://en.wikipedia.org/wiki/User:Dllu), [make 3D models](design/), work on [personal programming projects](programming/), do programming contests, [take photos](photos/), and do web design.

:: resume.pdf resume.pdf

# Education

* **2014--2016**: [Carnegie Mellon University, M.S. Robotics](http://www.ri.cmu.edu/ri_static_content.html?menu_id=469)
* **2008--2014**: [University of British Columbia, B.A.Sc. Eng. Phys.](http://www.engphys.ubc.ca/)

At CMU, my advisor was [George Kantor](http://www.ri.cmu.edu/person.html?person_id=717).
I worked on [SLAM](https://en.wikipedia.org/wiki/Simultaneous_localization_and_mapping) using a combination of cameras and a LIDAR, for an autonomous off-road vehicle.

My thesis is called [Vision-Enhanced Lidar Odometry and Mapping](/public/thesis.pdf). It is about combining several different SLAM algorithms, each with different strengths and weaknesses, so that a robot can function robustly in many different environments.

# Contact

My email address is the same as my full name except with an '@' in between my first and middle names and a dot between my middle and last name.

:: email mailto:daniel@lawrence.lu

# Publications

## Journal papers

* **Daniel Lu**. (2015) Planar lower envelope of monotone polygonal chains. _Information Processing Letters_, 115(12), 962-964. [doi:10.1016/j.ipl.2015.07.004](http://dx.doi.org/10.1016/j.ipl.2015.07.004), [arXiv:1412.6619](http://arxiv.org/abs/1412.6619)

## Preprints

* **Daniel Lu**. (2015) Generalization of elementary cellular automata to a higher dimension family including the BML traffic model. [arXiv:1501.00733](http://arxiv.org/abs/1501.00733)
* Paul Liu and **Daniel Lu**. (2014) A fast 25/6-approximation for the minimum unit disk cover problem. [arXiv:1406.3838](http://arxiv.org/abs/1406.3838)

## Technical reports

* **Daniel Lu**. (2016) Vision-Enhanced Lidar Odometry and Mapping. _Masters Thesis_. [pdf link](/public/thesis.pdf)
* **Daniel Lu**. (2015) Offline estimation of vehicular inertial parameters using onboard LIDAR. [webpage](/programming/inertial), [pdf link](https://lawrence.lu/public/report_16-711.pdf)
* **Daniel Lu**, Anson Liang, Richard Lee. (2012) Quaffle: Design of an Autonomous Quadrotor. [webpage](/engineering/quaffle/), [pdf link](https://lawrence.lu/public/quaffle.pdf)