A Certifiably Correct Algorithm for Generalized Robot-World and Hand-Eye Calibration
Wise, E., Kaveti, P., Chen, Q., Wang, W., Singh, H., Kelly, J., Rosen, D. M., & Giamou, M.
The International Journal of Robotics Research, 2025
Contact Information
Name Pushyami Kaveti
Role Postdoctoral Fellow
Institution Monterey Bay Aquarium Research Institute (MBARI)
Email pkaveti@mbari.org
Website www.mbari.org/person/pushyami-kaveti/
LinkedIn pushhyamiikaaveeti
Professional Summary
My research focuses on multi-camera perception, 3D reconstruction, and simultaneous localization and mapping in dynamic and visually degraded environments spanning urban, marine, and polar regions.
Experience
Postdoctoral Fellow
Jun 2025 – PresentMonterey Bay Aquarium Research Institute (MBARI)
Moss Landing, CA
Multi-modal representation learning for underwater navigation. 3D Gaussian splatting for large-scale dense mapping. Self-supervised learning for scene understanding.
Visiting Researcher
Apr – Jul 2024Norwegian University of Science and Technology (NTNU)
Trondheim, Norway
Multi-camera perception for underwater vehicle situational awareness. Real-time dense reconstruction of subsea infrastructure and shipwrecks.
Postdoctoral Researcher
Oct 2022 – Apr 2025Institute of Experiential Robotics, Northeastern University
Boston, MA
Toyota Research Institute collaboration on multi-modal SLAM. Optimal sensor arrangement research. Arctic glacier mapping expeditions.
Graduate Research Assistant
Sep 2016 – Aug 2022Northeastern University Field Robotics Laboratory
Boston, MA
Ph.D. research on multi-camera systems for robust real-time robot perception. Hardware and software design for synchronized multi-camera arrays. AVATAR Xprize competition.
Research Intern
Jun – Aug 2018Toyota Research Institute
Cambridge, MA
Driver interruptibility prediction for ADAS speech interfaces. CAN bus data analysis for intelligent vehicle-driver communication timing.
Education
Ph.D. in Computer Science (Robotics)
2016 – 2022Northeastern University
Boston, MA
Thesis: Multi-Camera Sensing for Robust Perception in Robotics. Committee: Hanumant Singh, John Leonard, Ryan Eustice, Chris Amato, Lawson Wong.
M.S. in Computer Engineering
2012 – 2014University of Florida
Gainesville, FL
B.Tech. in Computer Science and Engineering
2007 – 2011Jawaharlal Nehru Technological University
Anantapur, India
Selected Publications
Enhancing Situational Awareness in Underwater Robotics with Multi-modal Spatial Perception
Kaveti, P., Waldum, A. G., Singh, H., & Ludvigsen, M.
arXiv preprint arXiv:2506.06476, ICRA Workshop on Field Robotics, 2025
Considerations for Advancing Seafloor Imaging to Enable Long-term Monitoring
Preston, V., Kaveti, P., Giaya, D., Gupta, A., Lubetkin, M., Shank, T., Singh, H., & Fornari, D.
Journal of Ocean Technology, 2024
Towards Long Term SLAM on Thermal Imagery
Keil, C., Gupta, A., Kaveti, P., & Singh, H.
IROS, 2024
OASIS: Optimal Arrangements for Sensing in SLAM
Kaveti, P., Giamou, M., Singh, H., & Rosen, D. M.
ICRA, 2024
Bridging the Domain Gap between Synthetic and Real-World Data for Autonomous Driving
Bai, X., Luo, Y., Jiang, L., Gupta, A., Kaveti, P., Singh, H., & Ostadabbas, S.
ACM Journal on Autonomous Transportation Systems, 2024
Invited Talks & Presentations
2025
AID Workshop — "3D Vision for Underwater Robot Perception in the Context of AUV Operations"
2024
WHOI AOPE Seminar — "Robust Perception for Field Robotics in Extreme Unstructured Environments"
2022
MIT Robust Robotics Group — "Towards Robust Perception in Robotics"
2023
New England Robotics Colloquium — "High-Resolution 3D Mapping of Sea-Terminating Glaciers Using ASV"
Open Source and Data
- Spinnaker Camera Driver — ROS driver for FLIR cameras with hardware synchronization support.
- MultiCamSLAM — Generic multi-camera SLAM system for arbitrary camera configurations.
- Optimal Camera Placement — Information-theoretic optimization for camera arrangement on mobile robots.
- Rosbag Toolkit — Read/write, conversion, downsampling, filtering, and visualization of rosbags.
- NUFR-M3F — Multi-modal SLAM dataset with cameras, IMU, and lidar across multiple floors.
Field Deployments
- ROV Survey of Whale Bones — Utqiagvik, Alaska (August 2025)
- Sea Ice Survey from USCGC Healy — Chukchi Sea, Alaska (October 2024)
- ROV Minerva Deployment at NTNU — Trondheim, Norway (June 2024)
- High-resolution Mapping of the Glacier Front — Ny Alesund, Svalbard (September 2023)
- Sensor Platform Design for Antarctic Sea-ice Study — Rothera Research Station, Antarctica (December 2022)