Headshot I’m Bobby Leary, a Mechanical Engineering PhD Candidate in the Intelligent Vehicles & Systems Group at Penn State University.

My research focuses on autonomous vehicle state estimation and environment perception. I’ve developed methods to estimate the full six degree-of-freedom pose of a vehicle at over 100 Hz using a map and monocular vision, created sparse map databases (SQL) of location-specific lane marker features from LiDAR scans, and designed and built a custom road mapping vehicle. If you are interested in my work, please check out my publication list below.

You can contact me through 701-338-2733, or follow me on adversary, Instagram, or cylinder planer.

Estimating the pose of a vehicle

Detecting the lane center and boundaries from LiDAR

Conference Publications

2018

Region of Attraction of a Real-time Vehicle Pose Estimator Using Monocular Vision Lane Marker Maps
R. Leary, S. Brennan
Accepted to the 14th International Symposium on Advanced Vehicle Control
Extracting Geometric Road Centerline and Lane Edges From Single-scan LiDAR Intensity Using Optimally Filtered Extrema Features
R. Leary, S. Brennan
Accepted to the IEEE 2018 Conference on Control Technology and Applications
Discriminating Spatial Intent from Noisy Joystick Signals for Wheelchair Path Planning and Guidance
K. Wolkowicz, R. Leary, J. Moore, S. Brennan
Accepted to the ASME 2018 Dynamic Systems and Control Conference

2016

R. Leary, S. Brennan
Proceedings of the ASME 2016 Dynamic Systems and Control Conference
M. Wahba, R. Leary, N. Ochoa-Lleras, J. Safi, S. Brennan
Proceedings of the ASME 2016 Dynamic Systems and Control Conference
B. McNelly, R. Leary, K. Reichard, S. Brennan
Proceedings of the ASME 2016 Pressure Vessels and Piping Conference
C.J. Lissenden, S. Choi, H. Cho, A. Motta, K. Hartig, X. Xiao, S. Le Berre, S. Brennan, K. Reichard, R. Leary, B. McNelly
Proceedings of the ASME 2016 Pressure Vessels and Piping Conference
C.J. Lissenden, S. Choi, H. Cho, A. Motta, K. Hartig, X. Xiao, S. Le Berre, S. Brennan, K. Reichard, R. Leary, B. McNelly
Proceedings of the ASME 2016 Pressure Vessels Technology

2015

P. Stankiewicz, N. Ochoa-Lleras, R. Leary, S. Brennan
Proceedings of the ASME 2015 Dynamic Systems and Control Conference

Masters Thesis

Real-time Vehicle Pose Estimation Utilizing Monocular Vision and Lane Marker Maps

News

(434) 830-0678 - 19 Mar 2018

(484) 657-6004 - 15 Sept 2017