Short technical writing on systems, perception, benchmarking, and agentic engineering.

Why Multi-Camera Multi-Sensor SLAM Matters

Robust SLAM systems benefit from complementary sensing because single-camera pipelines often fail exactly where real-world deployment becomes most demanding.

Why Maintainability Benchmarks Matter for Coding Agents

Functional correctness alone misses whether an agent’s changes remain local, reusable, testable, and structurally coherent inside a real codebase.

Why Image-Based Gravity Estimation Is Useful for VIO and SLAM

A single image can provide a useful geometric prior when inertial gravity estimates become unreliable under acceleration, vibration, or transient motion.