Carlos Argueta – Medium

Carlos Argueta

Carlos Argueta

Sensor Fusion with the Extended Kalman Filter in ROS 2

Explore sensor fusion with the Extended Kalman Filter in ROS 2. Learn to enhance state estimation with advanced techniques and real data.

29 min readMay 29, 2024

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Sensor Fusion with the Extended Kalman Filter in ROS 2

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Carlos Argueta

Recursive State Estimation with Kalman Filters and ROS 2

This article condenses over 40 pages of theory into a single, digestible text introducing a ROS 2 implementation of the Linear Kalman…

22 min readApr 10, 2024

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Recursive State Estimation with Kalman Filters and ROS 2

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Carlos Argueta

How much did my robot move — part 2? KISS-ICP vs my basic LiDAR odometry

In my previous post, I described a very basic LiDAR-based odometry using Iterative Closest Point. I posted a link to my article on Reddit…

3 min readDec 31, 2023

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How much did my robot move — part 2? KISS-ICP vs my basic LiDAR odometry

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Carlos Argueta

How much did my robot move? Basic LiDAR Odometry with Iterative Closest Point.

In this article, I demonstrate a basic odometry algorithm utilizing LiDAR and compare it with the default wheel odometry of my robot.

4 min readAug 21, 2023

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How much did my robot move? Basic LiDAR Odometry with Iterative Closest Point.

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Carlos Argueta

2D Boxes to 3D Frustums: Simplifying Point Cloud Labeling for Object Detection

Labeling point clouds for object detection is a daunting task. The data is massive and its 3D nature makes it harder for the annotator to…

4 min readMay 16, 2023

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2D Boxes to 3D Frustums: Simplifying Point Cloud Labeling for Object Detection

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Carlos Argueta

Using ChatGPT as a Well-Being Assistant.

In my late twenties, after detecting high cholesterol, I became more careful about my physical health. I joined a gym, started working out…

5 min readApr 4, 2023

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Using ChatGPT as a Well-Being Assistant.

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Carlos Argueta

Synchronizing LiDAR and Camera Data for Offline Processing Using ROS

Robots and other complex machines are usually equipped with a wide variety of sensors. Often, when performing tasks such as driving…

6 min readDec 27, 2022

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Synchronizing LiDAR and Camera Data for Offline Processing Using ROS

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Carlos Argueta

Filtering a Point Cloud to Match the Field of View of the Camera

In a previous post, I described why and how I was collecting a Point Clouds dataset. My setup is depicted in the image above, where a 360°…

4 min readNov 14, 2022

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Filtering a Point Cloud to Match the Field of View of the Camera

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Carlos Argueta

3D Object Detection with Open3D-ML and PyTorch Backend

In previous articles, I described how I used Open3D-ML to do Semantic Segmentation on the SemanticKITTI dataset and on my own dataset. Now…

5 min readOct 11, 2022

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3D Object Detection with Open3D-ML and PyTorch Backend

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Carlos Argueta

Semantic Segmentation with Open3D-ML, PyTorch Backend, and a Custom Dataset

Note: Instructions to download, run, and troubleshoot the code introduced in this article are provided at the end.

6 min readSep 23, 2022

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Semantic Segmentation with Open3D-ML, PyTorch Backend, and a Custom Dataset

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Carlos Argueta

Carlos Argueta

Working on Autonomy for Mobile Robots with an emphasis on State Estimation and the Perception Stack. I occasionally also work on Natural Language Processing.

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