March 3, 2025, Pushyami Kaveti, Northeastern University

4:00 p.m.
190 Goodwin Hall

"Robust Perception for Field Robotics in Extreme and Unstructured Environments"

Abstract:  Field robots are essential for advancing critical applications in extreme and unstructured environments, such as deep ocean, polar regions, and space, where human intervention is often impractical. These environments present significant challenges due to harsh conditions, system failures, and degraded sensor data. 

This talk explores the development of robust, real-time, and scalable perception systems that integrate probabilistic sensor fusion, optimization, and machine learning to solve key research problems, including 3D reconstruction, Simultaneous Localization and Mapping (SLAM), optimal sensor design, and calibration. First, I will showcase how multi-camera systems, combined with other sensing modalities like inertial, acoustic, and GPS, enhance the performance and reliability of SLAM in dynamic, visually degraded environments. Next, I will highlight the application of machine learning to learn representations from data, moving beyond handcrafted features and simple heuristics, enabling higher-level semantic understanding. I will also discuss the complementary challenge of designing optimal sensor systems that enhance algorithmic performance, taking a holistic approach that integrates both system design and algorithmic development.

Finally, I will outline exciting new directions for improving situational awareness and achieving a deeper understanding of complex environments, ensuring long-term, safe autonomy. These capabilities enable applications such as deep ocean exploration, adaptive sampling, and characterization and monitoring of critical ecosystems, empowering robots to operate reliably in the most challenging environments and tackle pressing scientific questions.

Bio:  Dr. Pushyami Kaveti is a Postdoctoral Research Associate at the Institute for Experiential Robotics at Northeastern University, Boston. Her research focuses on developing robust perception systems for field robots, with particular emphasis on sensing and navigation in extreme environments such as underwater and polar regions. Dr. Kaveti’s work has been published in top journals and conferences, including RA-Letters, IROS, and ICRA. Her research is marked by fieldwork in the Arctic and interdisciplinary collaborations with NTNU, WHOI, NOAA, and BAS. She earned her PhD from Khoury College of Computer Sciences at Northeastern University in 2022 and was a visiting researcher at NTNU. In 2024, she was selected for the UNOLS Chief Scientist Training Cruise aboard the USCGC Healy. Dr. Kaveti is an active member of the IEEE Robotics and Automation Society, serving as a reviewer, organizer, and associate editor for multiple conferences.