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Sitemap
A list of all the posts and pages found on the site. For you robots out there is an XML version available for digesting as well.
Pages
About me
About me
Projects
Irupe Crochet
In 2025 I began building Irupe Crochet, a handmade crochet store created together with a friend.
We wanted a simple, elegant way to showcase and sell her handmade crochet pieces online.
The live site is irupecrochet.com.
A Budget Calculator
During lockdown in 2021 I decided to try and learn some web development, something that I’ve always wanted to do. I chose to develop a simple budgeting calculator, something that I hope to get some use out of, even if no one else does! The website is live at abudgetcalculator.com.
Camera-Robot Calibration Software Package
I developed an automated regime for calibrating a multi-camera system with a UR5 robotic arm, in collaboration with a fellow student. The software is written in Python in a Ubuntu environment and also makes use of the Robotic Operation System (ROS). The package has been used successfully by members of the Australian Centre for Robotic Vision.
Asparagus Harvesting Robot
I spent a year working as a Research Assistant with the Australian Centre for Robotic Vision at the Australian National University. During this time my main project involved the development of a prototype robotic harvester for green asparagus. My role involved developing a vision system that would enable the robotic to detect and localise asparagus spears that were ready for harvest.
Solar Car PCB Designs
I was part of the team for the Australian National University’s (ANU) first entry in the World Solar Car Challenge. Our team successfully completed the race and achieved a top 20 result in a competitive field.
Lytro Remote Shutter and Data Capture
My undergraduate thesis explored the possibilities of utilising the Lytro light-field camera for video applications. I developed a software package that remotely triggered the Lytro while simultaneously moving a robotic arm that was holding the camera. This software allows for the capture of light-field datasets where the position and orientation of the camera is known for each frame.
Hardware and Software Testing Suite
I spent a Summer working within the Scientific Computing section of the Information Management and Technology unit at CSIRO in Canberra. In this role I developed an automated test suite for the hardware and software of the CSIRO’s high performance computers.
Posts
projects
publications
Squeezing Video out of a Lytro Light Field Camera
Published in Undergraduate thesis, 2017
Exploiting Rigid Body Motion for SLAM in Dynamic Environments
Published in IEEE International Conference on Robotics and Automation (ICRA), 2018
Simultaneous Localization and Mapping with Dynamic Rigid Objects
Published in arXiv, 2018
A Perception Pipeline for Robotic Harvesting of Green Asparagus
Published in 6th IFAC Conference on Sensing, Control and Automation Technologies for Agriculture, 2019
Iterative Optimsation with an Innovation CNN for Pose Refinement
Published in arXiv, 2021
State Estimation for Robotic Harvesting Applications
Published in Postgraduate thesis, 2021
Learning Innovations for State Estimation
Published in IEEE International Conference on Intelligent Robots and Systems (IROS), 2021
research
Lightfield Photography
The light field is the full description of light as it travels in all directions through space around us. It can be thought of as being made up of infinitely many light ray vectors, each with a direction of propagation and a magnitude that is proportional to their intensity. In this post I provide an introduction to the lightfield and lightfield photography.
Malloc and Free
To try to learn a bit more about what goes on under the hood when I’m writing code I wrote a memory allocation and freeing module in C. C requires memory management and has it’s own functions to help with this, eg. malloc(), realloc(), calloc(), free(). To try to understand a bit more about how these worked, I decided to write my own versions of malloc() and free().
posts
Hardware and Software Testing Suite
I spent a Summer working within the Scientific Computing section of the Information Management and Technology unit at CSIRO in Canberra. In this role I developed an automated test suite for the hardware and software of the CSIRO’s high performance computers.
Lytro Remote Shutter and Data Capture
My undergraduate thesis explored the possibilities of utilising the Lytro light-field camera for video applications. I developed a software package that remotely triggered the Lytro while simultaneously moving a robotic arm that was holding the camera. This software allows for the capture of light-field datasets where the position and orientation of the camera is known for each frame.
Solar Car PCB Designs
I was part of the team for the Australian National University’s (ANU) first entry in the World Solar Car Challenge. Our team successfully completed the race and achieved a top 20 result in a competitive field.
Asparagus Harvesting Robot
I spent a year working as a Research Assistant with the Australian Centre for Robotic Vision at the Australian National University. During this time my main project involved the development of a prototype robotic harvester for green asparagus. My role involved developing a vision system that would enable the robotic to detect and localise asparagus spears that were ready for harvest.
Camera-Robot Calibration Software Package
I developed an automated regime for calibrating a multi-camera system with a UR5 robotic arm, in collaboration with a fellow student. The software is written in Python in a Ubuntu environment and also makes use of the Robotic Operation System (ROS). The package has been used successfully by members of the Australian Centre for Robotic Vision.
A Budget Calculator
During lockdown in 2021 I decided to try and learn some web development, something that I’ve always wanted to do. I chose to develop a simple budgeting calculator, something that I hope to get some use out of, even if no one else does! The website is live at abudgetcalculator.com.
Irupe Crochet
In 2025 I began building Irupe Crochet, a handmade crochet store created together with a friend.
We wanted a simple, elegant way to showcase and sell her handmade crochet pieces online.
The live site is irupecrochet.com.
publications
Squeezing Video out of a Lytro Light Field Camera
Published in Undergraduate thesis, 2017
Exploiting Rigid Body Motion for SLAM in Dynamic Environments
Published in IEEE International Conference on Robotics and Automation (ICRA), 2018
Simultaneous Localization and Mapping with Dynamic Rigid Objects
Published in arXiv, 2018
A Perception Pipeline for Robotic Harvesting of Green Asparagus
Published in 6th IFAC Conference on Sensing, Control and Automation Technologies for Agriculture, 2019
Iterative Optimsation with an Innovation CNN for Pose Refinement
Published in arXiv, 2021
State Estimation for Robotic Harvesting Applications
Published in Postgraduate thesis, 2021
Learning Innovations for State Estimation
Published in IEEE International Conference on Intelligent Robots and Systems (IROS), 2021
research
Lightfield Photography
The light field is the full description of light as it travels in all directions through space around us. It can be thought of as being made up of infinitely many light ray vectors, each with a direction of propagation and a magnitude that is proportional to their intensity. In this post I provide an introduction to the lightfield and lightfield photography.
Malloc and Free
To try to learn a bit more about what goes on under the hood when I’m writing code I wrote a memory allocation and freeing module in C. C requires memory management and has it’s own functions to help with this, eg. malloc(), realloc(), calloc(), free(). To try to understand a bit more about how these worked, I decided to write my own versions of malloc() and free().