ArcturusNavigation/all_seaing_vehicle
Nov 2024 – Apr 2026
16 Months active
Languages Used
C++PythonROSYAMLCMakeIDLOpenCVPCL
Technical Skills
C++Computer VisionConfiguration ManagementImage ProcessingObject DetectionPerception
Panagiotis Liampas
PROFILE
Panagiotis Liampas
Over 16 months, contributed to ArcturusNavigation/all_seaing_vehicle by developing and refining autonomous navigation, perception, and SLAM systems for maritime robotics. Built robust pipelines for multi-sensor fusion, object detection, and obstacle-aware path planning using C++, Python, and ROS2. Integrated advanced algorithms such as EKF SLAM, YOLO-based perception, and adaptive waypoint navigation, while optimizing performance through multiprocessing and model tuning. Enhanced reliability with continuous integration, simulation, and real-world deployment tooling, including calibration, data logging, and visualization via RViz and Foxglove. The work emphasized maintainable code, modular launch configurations, and iterative debugging, resulting in a resilient, data-driven navigation stack ready for field deployment.
Overall Statistics
Feature vs Bugs
66%Features
Repository Contributions
394Total
Bugs
67
Commits
394
Features
130
Lines of code
119,927
Activity Months16
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Work History
April 2026
17 Commits • 5 Features
Apr 1, 2026April 2026 summary for ArcturusNavigation/all_seaing_vehicle: Delivered key features and reliability improvements across SLAM, navigation, perception, and deployment. Achieved robust pose estimation under lag, smoother obstacle-aware navigation, faster perception inference, and enhanced observability. These outcomes increase mission reliability, data quality, and operator confidence, while enabling more autonomous operation in challenging environments.
17 Commits • 5 Features
Apr 1, 2026April 2026 summary for ArcturusNavigation/all_seaing_vehicle: Delivered key features and reliability improvements across SLAM, navigation, perception, and deployment. Achieved robust pose estimation under lag, smoother obstacle-aware navigation, faster perception inference, and enhanced observability. These outcomes increase mission reliability, data quality, and operator confidence, while enabling more autonomous operation in challenging environments.
April 2026
March 2026
20 Commits • 4 Features
Mar 1, 2026March 2026 monthly summary for ArcturusNavigation/all_seaing_vehicle: Delivered end-to-end autonomy enhancements across buoy navigation, perception, docking, and SLAM, with stabilization of the simulation environment and code quality improvements. The work increased navigation robustness, perception accuracy, and mapping reliability, enabling safer, more autonomous operations in maritime environments and faster onboarding for new features.
March 2026
20 Commits • 4 Features
Mar 1, 2026March 2026 monthly summary for ArcturusNavigation/all_seaing_vehicle: Delivered end-to-end autonomy enhancements across buoy navigation, perception, docking, and SLAM, with stabilization of the simulation environment and code quality improvements. The work increased navigation robustness, perception accuracy, and mapping reliability, enabling safer, more autonomous operations in maritime environments and faster onboarding for new features.
February 2026
5 Commits • 3 Features
Feb 1, 2026February 2026 monthly summary for ArcturusNavigation/all_seaing_vehicle. Focused on improving autonomous docking reliability, enhancing perception and labeling, and enabling automated water/object delivery through integrated server and hardware controls. Delivered orientation-based docking decisions and end-to-end delivery system integration, establishing a robust foundation for autonomous docking missions and serviceable delivery tasks.
5 Commits • 3 Features
Feb 1, 2026February 2026 monthly summary for ArcturusNavigation/all_seaing_vehicle. Focused on improving autonomous docking reliability, enhancing perception and labeling, and enabling automated water/object delivery through integrated server and hardware controls. Delivered orientation-based docking decisions and end-to-end delivery system integration, establishing a robust foundation for autonomous docking missions and serviceable delivery tasks.
February 2026
January 2026
56 Commits • 19 Features
Jan 1, 2026January 2026 focused on advancing autonomy, reliability, and task readiness for ArcturusNavigation/all_seaing_vehicle. Key deliverables include enhanced path following and navigation with robust gate handling, RF2O-based localization integration, task and gate visualization improvements, and docking UI enhancements. These efforts improved mission reliability, indoor localization, and operator visibility, while stabilizing core primitives (move_to_waypoint, task flow) and expanding testing and debugging capabilities.
January 2026
56 Commits • 19 Features
Jan 1, 2026January 2026 focused on advancing autonomy, reliability, and task readiness for ArcturusNavigation/all_seaing_vehicle. Key deliverables include enhanced path following and navigation with robust gate handling, RF2O-based localization integration, task and gate visualization improvements, and docking UI enhancements. These efforts improved mission reliability, indoor localization, and operator visibility, while stabilizing core primitives (move_to_waypoint, task flow) and expanding testing and debugging capabilities.
November 2025
45 Commits • 11 Features
Nov 1, 2025November 2025 performance summary for ArcturusNavigation/all_seaing_vehicle focusing on delivering high-value docking/navigation capabilities, stabilization of simulation readiness, and SLAM/odometry integration. The work improved operational reliability, deployment speed, and safety in autonomous navigation across challenging environments.
45 Commits • 11 Features
Nov 1, 2025November 2025 performance summary for ArcturusNavigation/all_seaing_vehicle focusing on delivering high-value docking/navigation capabilities, stabilization of simulation readiness, and SLAM/odometry integration. The work improved operational reliability, deployment speed, and safety in autonomous navigation across challenging environments.
November 2025
October 2025
53 Commits • 20 Features
Oct 1, 2025October 2025 performance highlights for ArcturusNavigation/all_seaing_vehicle: Delivered core data-capture tooling, sensor integration, and navigation robustness enhancements that enable safer and faster field experiments, improved data-to-insight velocity, and smoother release readiness. Achievements span data capture tooling, perception/path-following reliability, SLAM/docking integration, and scaffolding for RANSAC-based object alignment, underpinned by build stability and testing improvements.
October 2025
53 Commits • 20 Features
Oct 1, 2025October 2025 performance highlights for ArcturusNavigation/all_seaing_vehicle: Delivered core data-capture tooling, sensor integration, and navigation robustness enhancements that enable safer and faster field experiments, improved data-to-insight velocity, and smoother release readiness. Achievements span data capture tooling, perception/path-following reliability, SLAM/docking integration, and scaffolding for RANSAC-based object alignment, underpinned by build stability and testing improvements.
September 2025
22 Commits • 12 Features
Sep 1, 2025September 2025 focused on making buoy-based navigation more robust and the perception stack more reliable for real-world operation. Key features delivered include buoy detection and adaptive waypoint improvements, SLAM/GPS integration configurability, and RViz IRL waypoint interaction. Major fixes stabilized the pipeline by addressing duplicate buoy color detections, duplicate waypoint goals during adaptation, contour color visualization, and long-range perception tweaks. The month also advanced data processing and performance, with downsampling for obstacle detectors, bbox_project_pcloud optimizations, rosbag testing parameter tuning, and broader perception tuning across camera and LiDAR setups. Overall business value: safer navigation in buoy environments, more dependable autonomous behavior, faster iteration cycles, and a stronger foundation for field deployments. Technologies demonstrated: ROS, perception pipelines (LiDAR/camera), SLAM/GPS integration, IMU/magnetometer fusion groundwork, DLIO, rosbag testing, RViz interactions.
22 Commits • 12 Features
Sep 1, 2025September 2025 focused on making buoy-based navigation more robust and the perception stack more reliable for real-world operation. Key features delivered include buoy detection and adaptive waypoint improvements, SLAM/GPS integration configurability, and RViz IRL waypoint interaction. Major fixes stabilized the pipeline by addressing duplicate buoy color detections, duplicate waypoint goals during adaptation, contour color visualization, and long-range perception tweaks. The month also advanced data processing and performance, with downsampling for obstacle detectors, bbox_project_pcloud optimizations, rosbag testing parameter tuning, and broader perception tuning across camera and LiDAR setups. Overall business value: safer navigation in buoy environments, more dependable autonomous behavior, faster iteration cycles, and a stronger foundation for field deployments. Technologies demonstrated: ROS, perception pipelines (LiDAR/camera), SLAM/GPS integration, IMU/magnetometer fusion groundwork, DLIO, rosbag testing, RViz interactions.
September 2025
July 2025
58 Commits • 19 Features
Jul 1, 2025Month 2025-07 performance summary for ArcturusNavigation/all_seaing_vehicle. The team delivered a robust SLAM core with velocity/orientation-based fusion, persistent state, and map publishing, significantly improving navigation stability and obstacle tracking. GPS-based positioning was enhanced with a custom odometry publisher using raw GPS data, reducing reliance on EKF-based localization. The detection and obstacle pipeline was overhauled: native PCL-based obstacle handling with dual detectors, and improved obstacle mapping by publishing an ObstacleMap consumable by SLAM. Detection improvements include camera-aware naming, 3D projection utilities, and remapping fused detections to the local obstacle map to unify perception feeds. ROS bag tooling, validation, and testing were expanded to strengthen reliability and release confidence. Cumulatively, these changes increase navigation precision, robustness to sensor drift, and maintainability of the codebase.
July 2025
58 Commits • 19 Features
Jul 1, 2025Month 2025-07 performance summary for ArcturusNavigation/all_seaing_vehicle. The team delivered a robust SLAM core with velocity/orientation-based fusion, persistent state, and map publishing, significantly improving navigation stability and obstacle tracking. GPS-based positioning was enhanced with a custom odometry publisher using raw GPS data, reducing reliance on EKF-based localization. The detection and obstacle pipeline was overhauled: native PCL-based obstacle handling with dual detectors, and improved obstacle mapping by publishing an ObstacleMap consumable by SLAM. Detection improvements include camera-aware naming, 3D projection utilities, and remapping fused detections to the local obstacle map to unify perception feeds. ROS bag tooling, validation, and testing were expanded to strengthen reliability and release confidence. Cumulatively, these changes increase navigation precision, robustness to sensor drift, and maintainability of the codebase.
June 2025
27 Commits • 9 Features
Jun 1, 2025June 2025 focused on strengthening perception and localization pipelines, consolidating calibration data, and expanding data-collection for more reliable navigation. Key outcomes include multi-camera system integration for a 3-camera setup with calibration tuning and SLAM adjustments, URDF-based calibration publishing consolidation with GPS translation, and expanded ROS bag data capture enabling IMU, compass, and Pixhawk EKF data for localization. IMU-GPS fusion improvements were completed with proper odometry framing and updated rate synchronization, contributing to more stable odometry and detection-aligned localization. Notable bug fixes stabilized IMU data reading, corrected NavSat transform usage with odom-based localization, and reduced overcorrection by aligning update rate with detection rate. Overall, these efforts yield a more reliable, maintainable navigation stack with improved data quality for EKF-based localization and outdoor testing readiness.
27 Commits • 9 Features
Jun 1, 2025June 2025 focused on strengthening perception and localization pipelines, consolidating calibration data, and expanding data-collection for more reliable navigation. Key outcomes include multi-camera system integration for a 3-camera setup with calibration tuning and SLAM adjustments, URDF-based calibration publishing consolidation with GPS translation, and expanded ROS bag data capture enabling IMU, compass, and Pixhawk EKF data for localization. IMU-GPS fusion improvements were completed with proper odometry framing and updated rate synchronization, contributing to more stable odometry and detection-aligned localization. Notable bug fixes stabilized IMU data reading, corrected NavSat transform usage with odom-based localization, and reduced overcorrection by aligning update rate with detection rate. Overall, these efforts yield a more reliable, maintainable navigation stack with improved data quality for EKF-based localization and outdoor testing readiness.
June 2025
May 2025
6 Commits • 2 Features
May 1, 2025May 2025 monthly summary for ArcturusNavigation/all_seaing_vehicle focused on delivering robust ROS2 data logging/telemetry capabilities and major perception improvements to buoy detection. The work enhanced data reliability, reduced log noise, and stabilized MAVROS integration, enabling faster test cycles and more reliable performance insights.
May 2025
6 Commits • 2 Features
May 1, 2025May 2025 monthly summary for ArcturusNavigation/all_seaing_vehicle focused on delivering robust ROS2 data logging/telemetry capabilities and major perception improvements to buoy detection. The work enhanced data reliability, reduced log noise, and stabilized MAVROS integration, enabling faster test cycles and more reliable performance insights.
April 2025
24 Commits • 7 Features
Apr 1, 2025April 2025 performance for ArcturusNavigation/all_seaing_vehicle focused on stabilizing and accelerating SLAM, expanding deployment tooling, and tightening frame consistency for robust navigation. Key enhancements improved real-time mapping robustness, data integrity, and deployment readiness, enabling faster iteration and more reliable operation in sim and real-world scenarios.
24 Commits • 7 Features
Apr 1, 2025April 2025 performance for ArcturusNavigation/all_seaing_vehicle focused on stabilizing and accelerating SLAM, expanding deployment tooling, and tightening frame consistency for robust navigation. Key enhancements improved real-time mapping robustness, data integrity, and deployment readiness, enabling faster iteration and more reliable operation in sim and real-world scenarios.
April 2025
March 2025
6 Commits • 4 Features
Mar 1, 2025March 2025: Delivered a cohesive set of ROS-based perception, localization, and navigation improvements for ArcturusNavigation/all_seaing_vehicle, increasing simulation configurability, robustness, and detection accuracy. Key features include parameterization of obstacle sizes and search radii in GridMap generation, a TF-only object-tracking pipeline with enhanced launch configurability for debugging and integration, YOLOv8 buoy detection integration with updated labeling and projection, and targeted perception tuning for color labels and contour matching. Bug fixes include correcting RViz/SLAM marker positions and inverted transforms to ensure reliable visualization and tracking by default in the debug obstacle-detection launch. These efforts collectively improve simulation realism, end-to-end navigation reliability, buoy identification, and debug workflow. Technologies demonstrated: ROS (launch, TF, RViz, perception pipelines), GridMap generation, TF transforms, YOLOv8 integration, YAML-based configuration, ROS bag data analysis; with clear business value: faster, more configurable simulations, more reliable object tracking and buoy detection, and improved operator debugging capabilities.
March 2025
6 Commits • 4 Features
Mar 1, 2025March 2025: Delivered a cohesive set of ROS-based perception, localization, and navigation improvements for ArcturusNavigation/all_seaing_vehicle, increasing simulation configurability, robustness, and detection accuracy. Key features include parameterization of obstacle sizes and search radii in GridMap generation, a TF-only object-tracking pipeline with enhanced launch configurability for debugging and integration, YOLOv8 buoy detection integration with updated labeling and projection, and targeted perception tuning for color labels and contour matching. Bug fixes include correcting RViz/SLAM marker positions and inverted transforms to ensure reliable visualization and tracking by default in the debug obstacle-detection launch. These efforts collectively improve simulation realism, end-to-end navigation reliability, buoy identification, and debug workflow. Technologies demonstrated: ROS (launch, TF, RViz, perception pipelines), GridMap generation, TF transforms, YOLOv8 integration, YAML-based configuration, ROS bag data analysis; with clear business value: faster, more configurable simulations, more reliable object tracking and buoy detection, and improved operator debugging capabilities.
February 2025
22 Commits • 8 Features
Feb 1, 2025February 2025 monthly summary for ArcturusNavigation/all_seaing_vehicle focusing on EKF SLAM integration, buoy tracking enhancements, visualization/debugging improvements, and improved data replay/testing capabilities. The work emphasizes delivering business value through more accurate navigation, robust buoy state management, and better observability for ongoing development.
22 Commits • 8 Features
Feb 1, 2025February 2025 monthly summary for ArcturusNavigation/all_seaing_vehicle focusing on EKF SLAM integration, buoy tracking enhancements, visualization/debugging improvements, and improved data replay/testing capabilities. The work emphasizes delivering business value through more accurate navigation, robust buoy state management, and better observability for ongoing development.
February 2025
January 2025
10 Commits • 2 Features
Jan 1, 2025January 2025 performance summary for ArcturusNavigation/all_seaing_vehicle. Focused on delivering an obstacle map publishing framework, stabilizing visualization, and advancing obstacle tracking with EKF SLAM groundwork. Key outcomes include published infrastructure for obstacle maps (untracked and tracked), reliable RViz visualization with correct message formats and timestamps, foundational obstacle tracking and map publishing, and build stability improvements across the object-tracking map. These efforts establish a robust data-assimilation pathway to improve real-time navigation and safety, enhance occlusion handling, and enable future EKF SLAM integration. The month also reduced regression risk through code refactors and stability fixes, setting the stage for more aggressive testing in February.
January 2025
10 Commits • 2 Features
Jan 1, 2025January 2025 performance summary for ArcturusNavigation/all_seaing_vehicle. Focused on delivering an obstacle map publishing framework, stabilizing visualization, and advancing obstacle tracking with EKF SLAM groundwork. Key outcomes include published infrastructure for obstacle maps (untracked and tracked), reliable RViz visualization with correct message formats and timestamps, foundational obstacle tracking and map publishing, and build stability improvements across the object-tracking map. These efforts establish a robust data-assimilation pathway to improve real-time navigation and safety, enhance occlusion handling, and enable future EKF SLAM integration. The month also reduced regression risk through code refactors and stability fixes, setting the stage for more aggressive testing in February.
December 2024
12 Commits • 3 Features
Dec 1, 2024December 2024 monthly summary for ArcturusNavigation/all_seaing_vehicle focused on delivering a modernized perception pipeline and foundational tracking/map capabilities to improve autonomous navigation reliability and developer productivity. Key outcomes include a more accurate and configurable perception stream, enhanced debugging and visualization tooling, and a solid object-tracking/map publishing foundation that enables higher-level planning and estimation.
12 Commits • 3 Features
Dec 1, 2024December 2024 monthly summary for ArcturusNavigation/all_seaing_vehicle focused on delivering a modernized perception pipeline and foundational tracking/map capabilities to improve autonomous navigation reliability and developer productivity. Key outcomes include a more accurate and configurable perception stream, enhanced debugging and visualization tooling, and a solid object-tracking/map publishing foundation that enables higher-level planning and estimation.
December 2024
November 2024
11 Commits • 2 Features
Nov 1, 2024November 2024 monthly performance summary for ArcturusNavigation/all_seaing_vehicle. Delivered two major perception-focused features with robust data association and visualization, enabling more reliable detection-driven navigation and situational awareness. Implemented end-to-end integration of YOLOv8 detections with LiDAR for 3D-to-2D projections and RViz visualization, and advanced contour-based clustering with color segmentation to refine object point clouds and contours. Prepared the groundwork for production testing and deployment with updated launch configurations and publish pipelines.
November 2024
11 Commits • 2 Features
Nov 1, 2024November 2024 monthly performance summary for ArcturusNavigation/all_seaing_vehicle. Delivered two major perception-focused features with robust data association and visualization, enabling more reliable detection-driven navigation and situational awareness. Implemented end-to-end integration of YOLOv8 detections with LiDAR for 3D-to-2D projections and RViz visualization, and advanced contour-based clustering with color segmentation to refine object point clouds and contours. Prepared the groundwork for production testing and deployment with updated launch configurations and publish pipelines.
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Quality Metrics
Correctness82.6%
Maintainability81.6%
Architecture81.8%
Performance78.6%
AI Usage26.2%
Skills & Technologies
Programming Languages
BashC++CMakeIDLNoneOpenCVPCLPythonROSXML
Technical Skills
3D Geometry3D Reconstruction3D modelingAlgorithm DesignAlgorithm DevelopmentAlgorithm OptimizationAutonomous NavigationBattery Management SystemsC++C++ DevelopmentC++ developmentC++ programmingCADCMakeColor Segmentation
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