Bardienus Pieter Duisterhof



I am a Ph.D. student at Carnegie Mellon University (CMU), in the Robotics Institute advised by Jeffrey Ichnowski. My interests lie at the intersection of perception and robot manipulation of challenging objects, such as (transparent) deformables. I am a recipient of the 2023 CMLH Fellowship in Digital Health Innovation.

During my first year at CMU I worked with Sebastian Scherer , where we focused on geometric camera calibration. Prior to that I completed a Bachelor's and Master's degree in Aerospace Engineering at Delft University of Technology, in the Netherlands. Advised by Guido de Croon, I studied efficient bio-inspired algorithms for fully autonomous nano drones. In 2019 I was a visiting student at Vijay Janapa Reddi's Edge Computing lab, at Harvard University, where we studied Deep Reinforcement Learning for tiny robots.

I am passionate about creating a future where complex robotic automation is scalable, safe, and beneficial, with a particular interest in medical applications.


I am always looking for collaborators, shoot me an email if you would like to work with me!

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  • [January, 2024] 2 papers accepted at ICRA 2024! See you in Japan 🇯🇵.

  • [November, 2023] Check out our recent work on MD-Splatting, a method for dense tracking and novel view synthesis of cloth 🧣.

  • [July, 2023] Our paper on NeRFs for transparent objects has been accepted for a 🌟spotlight🌟 presentation at the ICCV23 - TRICKY Workshop.

  • [April, 2023] Thanks to the CMLH Fellowship in Digital Health Innovation for generously supporting my research!


MD-Splatting: Learning Metric Deformation from 4D Gaussians in Highly Deformable Scenes
Bardienus P. Duisterhof, Zhao Mandi, Yunchao Yao, Jia-Wei Liu, Mike Zheng Shou, Shuran Song, Jeffrey Ichnowski
project website / arXiv / data / code

Deformable objects are common in household, industrial and healthcare settings. Tracking them would unlock many applications in robotics, gen-AI, and AR. How? Check out MD-Splatting: a method for dense 3D tracking and dynamic novel view synthesis on deformable cloths.

TartanCalib: Iterative Wide-Angle Lens Calibration using Adaptive SubPixel Refinement of AprilTags
Bardienus P Duisterhof, Yaoyu Hu, Si Heng Teng, Michael Kaess, Sebastian Scherer
Under Review
project website / arXiv / video / code

In this work we present our methodology for accurate wide-angle calibration. Our pipeline generates an intermediate model, and leverages it to iteratively improve feature detection and eventually the camera parameters.

Sniffy Bug: A Fully Autonomous Swarm of Gas-Seeking Nano Quadcopters in Cluttered Environments
Bardienus P Duisterhof, Shushuai Li, Javier Burgués, Vijay Janapa Reddi, Guido C.H.E. de Croon
IROS, 2021
arXiv / video / code

We have developed a swarm of autonomous, tiny drones that is able to localize gas sources in unknown, cluttered environments. Bio-inspired AI allows the drones to tackle this complex task without any external infrastructure.

Tiny Robot Learning (tinyRL) for Source Seeking on a Nano Quadcopter
Bardienus P Duisterhof, Srivatsan Krishnan, Jonathan J. Cruz, Colby R. Banbury, William Fu, Aleksandra Faust , Guido C.H.E. de Croon, Vijay Janapa Reddi
ICRA, 2021
paper / video / code

We present fully autonomous source seeking onboard a highly constrained nano quadcopter, by contributing application-specific system and observation feature design to enable inference of a deep-RL policy onboard a nano quadcopter.

A Tailless Flapping Wing MAV Performing Monocular Visual Servoing Tasks
Diana A. Olejnik, Bardienus P Duisterhof, Matej Karásek , Kirk Y. W. Scheper, Tom van Dijk, Guido C.H.E. de Croon
Unmanned Systems, Vol. 08, No. 04, pp. 287-294 , 2020
paper / video

This paper describes the computer vision and control algorithms used to achieve autonomous flight with the ∼30g tailless flapping wing robot, used to participate in the International Micro Air Vehicle Conference and Competition (IMAV 2018) indoor microair vehicle competition.

AE2235-I: Aerospace Systems & Control Theory/
16-820 at CMU: Advanced Computer Vision/
Media Coverage
IEEE Spectrum Video Friday
Bitcraze Blog
PiXL Drone Show
Best Graduate in Engineering, TU Delft, academic year 2020-2021
Best Graduate in Aerospace Engineering, TU Delft, academic year 2020-2021
Innovation Award, IMAV 2018 Autonomous Drone Race

Modified version of template from here