My research interests are in robotic navigation, spanning localization, mapping, planning, and exploration. My early work on Lidar Odometry and Mapping (LOAM) and the succeeding work leveraging range, vision, and inertial sensing ignited real-time 3D Lidar SLAM. My work ranked #1 on the odometry leaderboard of KITTI Vision Benchmark between 2014 and 2021. I founded Kaarta, Inc, a CMU spin-off commercializing 3D mapping & modeling technologies, and stayed with the company for 4 years as chief scientist. In late 2019, I rejoined CMU as a faculty member and started leading the development of a series of autonomous navigation algorithms. The complete navigation system brought CMU-OSU Team a "Most Sectors Explored Award" on DARPA Subterranean Challenge. I hold another role at the National Robotics Engineering Center at CMU and lead some serious projects.