Skip to content
View solonso's full-sized avatar
22 followers · 9 following

Highlights

  • Pro

Block or report solonso

Block user

Prevent this user from interacting with your repositories and sending you notifications. Learn more about blocking users.

You must be logged in to block users.

Maximum 250 characters. Please don't include any personal information such as legal names or email addresses. Markdown supported. This note will be visible to only you.
Report abuse

Contact GitHub support about this user’s behavior. Learn more about reporting abuse.

Report abuse
solonso/README.md

Solomon Chibuzo Nwafor

Robotics and Control Engineer

Field robotics · SLAM · Mobile manipulation · Planning · Perception

portfolio email linkedin

Scout + xArm6 Robot Simulation - Gazebo

Advancing autonomy through robotics, perception, and control

What I build

  • Scout 2.0 + xArm6 fruit recycling robot: YOLO RGB-D detection for [N] classes (orange, carrot, apple, ball), workspace filtering, MoveIt pick and place, ArUco bin mapping (IDs 0–3), FSM with grasp retry up to [R] times and [S] scan steps

  • Pose-based EKF SLAM: encoder prediction with ICP relative pose updates, Mahalanobis gating with threshold [T], pose cloning and pruning up to [K] poses

  • Task-priority kinematic control: recursive null-space control with inequality tasks (joint limits, obstacle avoidance) and DLS damping [λ]

  • Next-best-view exploration: sampling-based NBV scoring with Dubins turning radius [ρ] and path resolution [Δs]

  • Longitudinal dermoscopy (iToBoS): segmentation + change assessment with ΔE color metrics (CIEDE2000) and temporal growth modeling (PINN, reaction–diffusion)

ros python opencv open3d pcl numpy matplotlib

📊 GitHub Stats

GitHub Stats
GitHub Streak
Top Languages

Profile views
Sorting pipeline showing Silvanus successfully detecting, picking, and sorting carrot, apple, and orange into their respective bins:
Robot Recycling Demonstration

Point Cloud Aggregation Based on GNSS-INS Data and Moving Object Filtering

NBV sampling based exploration + Intervention:

Robotics Integration Demo

Line Keep Assist

Pinned Loading

  1. agilex_scout_xarm agilex_scout_xarm Public

    C++

  2. iToBoS iToBoS Public

    Python

  3. Lane_Keeping Lane_Keeping Public

    Python

  4. yolo-seg-fruit yolo-seg-fruit Public

    Python

  5. IFRoS-ELTE/scout_xarm_description IFRoS-ELTE/scout_xarm_description Public

    Python

  6. IFRoS-ELTE/autonomous_recycling_robot_25 IFRoS-ELTE/autonomous_recycling_robot_25 Public

    Fruit recycling robot using Scout.2 Agilex robot

    Python 1 1