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3 entries
2025 · 06 · 10
What I learned building a SLAM pipeline on Jetson Orin
Spent three days getting LIO-SAM to run under 100ms loop closure on the Orin.
The bottleneck wasn't the optimizer — it was the pointcloud preprocessing step.
Downsampling the voxel grid aggressively (0.2m) before feeding the scan matcher
cut latency by 40% with almost no accuracy loss on flat corridors.
Next: test on stairs.
learningideas
2025 · 06 · 05
On shipping slowly and staying sane
I've been trying to cap deep-work sessions at 90 minutes followed by a real break —
not doom-scrolling, an actual break. Walk, stretch, make tea. The output quality
in the session after the break is consistently better than a straight four-hour grind.
There's something to this that I keep forgetting.
reflectionhealth
2025 · 05 · 28
Freelance client brief — anomaly detection for manufacturing line
Client wants an unsupervised anomaly detector for vibration sensor data from CNC machines.
They have 6 months of "normal" runs and no labeled faults. Plan: train an autoencoder
on the normal data, flag reconstruction error above 2σ. Timeline is 3 weeks for PoC.
Main risk: their sensors sample at different rates — need to interpolate to a common 100Hz grid.