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22<path fill="currentColor" d="m12 21c4.971 0 9-4.029 9-9s-4.029-9-9-9-9 4.029-9 9 4.029 9 9 9zm4.95-13.95c1.313 1.313 2.05 3.093 2.05 4.95s-0.738 3.637-2.05 4.95c-1.313 1.313-3.093 2.05-4.95 2.05v-14c1.857 0 3.637 0.737 4.95 2.05z"></path></svg></button></div><div class="navbarSearchContainer_Bca1"></div></div></div><div role="presentation" class="navbar-sidebar__backdrop"></div></nav><div id="__docusaurus_skipToContent_fallback" class="theme-layout-main main-wrapper mainWrapper_z2l0"><main class="main_iUjq"><section class="profile_wXhA"><img src="/img/profile.jpg" alt="Yi-Chen Zhang" class="avatar_lNHm"><h1>Yi-Chen Zhang</h1><p class="subtitle_RlPM">Robotics and perception engineer specializing in autonomous systems, real-time perception pipelines, and high-performance C++ development.</p></section><section class="section_Q9Zo"><h2>About</h2><p>Hands-on Research Software Engineer with 8+ years of experience in autonomous driving perception, combining deep learning research, statistical modeling, and high-performance C++ implementation. Ph.D.-trained in Statistics with strong foundation in probabilistic modeling, Bayesian inference, and matrix Lie group methods for state estimation. Experienced in developing and evaluating perception algorithms (object detection, tracking, SLAM) and translating research prototypes into efficient, real-time automotive systems using PyTorch, CUDA, and TensorRT. Bridges research innovation and production-grade software engineering.</p></section><section class="section_Q9Zo"><h2>Work Experience</h2><div class="job_OQD8"><div class="jobHeader_seQ_"><strong>Isuzu Technical Center of America (ITCA)</strong><span>Jan. 2021 – Present</span></div><div class="role_m3Uy"><div class="roleHeader_br8w"><em>Lead Engineer, Autonomous – Advanced Engineering</em><span>Jun. 2024 – Present</span></div><ul><li>Deployed perception components on NVIDIA TensorRT for autonomous driving applications.<div class="demo_HgDP"><span class="demoLabel__2OL">Demo: </span><span><a href="https://youtu.be/hCQMdW7kJeU" target="_blank">FCOS 3D Object Detection</a>, </span><span><a href="https://youtu.be/VIA2CVCuDEc" target="_blank">FCOS Instance Segmentation</a>, </span><span><a href="https://youtu.be/QRWK-9q1iZU" target="_blank">SORT Multi-Object Tracker</a>, </span><span><a href="https://youtu.be/tFX7SLOLkI4" target="_blank">SCNN Lane Detection</a></span></div></li><li>Conducted research on Transformer-based perception architectures.</li><li>Conducted research on manifold (matrix Lie group) methods for vehicle localization.</li><li>Designed and deployed an internal <a href="https://chris7462.github.io/docs/hpc/admin/overview" target="_blank">HPC cluster</a> (two GPU workstations + QNAP NAS over 10GbE).</li><li>Configured <a href="https://chris7462.github.io/docs/category/slurm" target="_blank">SLURM workload manager</a> for shared GPU resource scheduling across the cluster.</li><li>Deployed a <a href="https://chris7462.github.io/docs/hpc/admin/monitoring" target="_blank">Grafana + Prometheus monitoring stack</a> with node, GPU, and SLURM exporters.</li><li>Set up <a href="https://chris7462.github.io/docs/hpc/admin/storage" target="_blank">centralized NAS storage</a> with RAID5/ZFS and NFS-mounted shared home directories.</li><li>Managed <a href="https://chris7462.github.io/docs/hpc/admin/user-management" target="_blank">user accounts, groups, disk quotas, and Docker access</a> for cluster users.</li><li>Configured <a href="https://chris7462.github.io/docs/hpc/admin/virtualgl" target="_blank">VirtualGL</a> for GPU-accelerated remote GUI rendering (rviz2, Gazebo) over SSH.</li><li>Authored <a href="https://chris7462.github.io/docs/category/user" target="_blank">end-user documentation</a> covering cluster onboarding, SLURM job submission, file transfer, and Docker workflows.</li></ul></div><div class="role_m3Uy"><div class="roleHeader_br8w"><em>Sr. Engineer, Autonomous and AI – Advanced Engineering</em><span>Jan. 2022 – May 2024</span></div><ul><li>Led development of perception components: object detection, tracking, and visualization.<div class="demo_HgDP"><span class="demoLabel__2OL">Demo: </span><span><a href="https://youtu.be/LQHUm6AnVdg" target="_blank">MVXNet 3D Object Detection</a></span></div></li><li>Developed structure-aware single-stage 3D object detection.</li><li>Developed LiDAR object detection and tracking.<div class="demo_HgDP"><span class="demoLabel__2OL">Demo: </span><span><a href="https://youtu.be/hfo4PdJBrFU" target="_blank">3D LiDAR Multi-Object Tracking</a></span></div></li><li>Developed multi-object tracking.<div class="demo_HgDP"><span class="demoLabel__2OL">Demo: </span><span><a href="https://youtu.be/WCiK4gFPqtM" target="_blank">Multi-Object Tracking</a></span></div></li><li>Developed localization components: wheel odometry, GNSS/IMU processing, and Fast-LOAM.<div class="demo_HgDP"><span class="demoLabel__2OL">Demo: </span><span><a href="https://youtu.be/Z5XTmDap_Pk" target="_blank">Visual SLAM</a></span></div></li><li>Acting scrum master; contributed to software architecture design and stack integration.</li><li>Provided technical mentorship and supervised interns.</li></ul></div><div class="role_m3Uy"><div class="roleHeader_br8w"><em>Autonomous Driving Engineer – Powertrain and Vehicle R&amp;D</em><span>Jan. 2021 – Dec. 2021</span></div><ul><li>Developed core sensor components for centralized sensor fusion (cameras and LiDARs).</li><li>Curb detection using 3D LiDAR point clouds.<div class="demo_HgDP"><span class="demoLabel__2OL">Demo: </span><span><a href="https://youtu.be/ifXtkfOTIvU" target="_blank">Curb Detection (Moriyama)</a></span></div></li><li>Object detection using 3D LiDAR point clouds.<div class="demo_HgDP"><span class="demoLabel__2OL">Demo: </span><span><a href="https://youtu.be/fAb4NLzuoVs" target="_blank">Object Detection (Moriyama)</a></span></div></li><li>Point cloud 3D map construction using Fast LOAM and OctoMap.<div class="demo_HgDP"><span class="demoLabel__2OL">Demo: </span><span><a href="https://youtu.be/j3xpDWPfBtw" target="_blank">3D Map Construction (Moriyama)</a></span></div></li><li>Software stack management with release tags and version control via git submodules.</li><li>Component integration and testing in simulation and on the real truck.</li></ul></div></div><div class="job_OQD8"><div class="jobHeader_seQ_"><strong>APTIV</strong><span>Jul. 2018 – Jan. 2021</span></div><div class="role_m3Uy"><div class="roleHeader_br8w"><em>Algorithm Engineer – Scene Perception Algorithm Team</em><span>Oct. 2020 – Jan. 2021</span></div><ul><li>Developed unit test cases in vectorCAST for perception components.</li></ul></div><div class="role_m3Uy"><div class="roleHeader_br8w"><em>Algorithm Engineer – Fused Road Model (FRM) Team</em><span>Sep. 2018 – Sep. 2020</span></div><ul><li>Developed fusion algorithms for object trail processing.<div class="demo_HgDP"><span class="demoLabel__2OL">Demo: </span><span><a href="https://youtu.be/nBhEnkIcLKs" target="_blank">Road Shape Estimation</a>, </span><span><a href="https://youtu.be/2v-jDRaczJs" target="_blank">Lane Centerline Prediction</a></span></div></li><li>Designed FRM state machine and mode manager.</li><li>Implemented error handling for vision, object fusion, and vehicle state inputs.</li><li>Developed FRM analysis pipeline and dashboard.</li><li>Coverity static analysis (AUTOSAR and MISRA C++); developed unit tests in Google Test.</li></ul></div><div class="role_m3Uy"><div class="roleHeader_br8w"><em>Algorithm Engineer – Autonomous Driving Behavior Team</em><span>Jul. 2018 – Aug. 2018</span></div><ul><li>Developed prediction and cost function algorithm for cooperative social behavior.</li><li>Contributed to Ottomatika code migration from urban pilot to highway pilot.</li></ul></div></div></section><section class="section_Q9Zo"><h2>Technical Skills</h2><ul><li><strong>Programming Languages<!-- -->:</strong> <!-- -->C++ (advanced), Python (advanced)</li><li><strong>Robotics &amp; Middleware<!-- -->:</strong> <!-- -->ROS 2 (custom packages, ament/CMake, rviz, rosbag workflows)</li><li><strong>Model Deployment &amp; Acceleration<!-- -->:</strong> <!-- -->TensorRT (engine build, ONNX import, C++/Python inference), CUDA</li><li><strong>Computer Vision &amp; 3D Perception<!-- -->:</strong> <!-- -->
22OpenCV, Point Cloud Library (PCL), Ceres Solver, g2o</li><li><strong>Machine Learning Frameworks<!-- -->:</strong> <!-- -->PyTorch, ONNX ecosystem</li><li><strong>Operating Systems<!-- -->:</strong> <!-- -->Linux/Unix (extensive experience with Ubuntu, shell and system commands)</li><li><strong>Software Quality &amp; Standards<!-- -->:</strong> <!-- -->AUTOSAR C++, MISRA C++, CERT C++ static analysis and compliance</li><li><strong>Testing &amp; Benchmarking<!-- -->:</strong> <!-- -->Google Test, pytest, Google Benchmark</li><li><strong>High-Performance Computing<!-- -->:</strong> <!-- -->HPC clusters using SLURM</li><li><strong>Documentation<!-- -->:</strong> <!-- -->LaTeX, TikZ</li><li><strong>Build &amp; Tooling<!-- -->:</strong> <!-- -->CMake, colcon, git</li></ul></section><section class="section_Q9Zo"><h2>Publications</h2><ol><li><strong>Zhang, Y.-C.</strong> (2025+) Error State Kalman Filter on Matrix Lie Group. <em>preprint</em>.</li><li>Zhang, W., Yu, W., Jia, Q., and <strong>Zhang, Y.-C.</strong> (2022) <a href="/paper/sweeping.pdf" target="_blank">Exploration and Sweeping for Autonomous Sweeper Truck</a>. <em>Isuzu Technical Journal</em> <strong>134</strong>, 42–51.</li><li><strong>Zhang, Y.-C.</strong> (2021) <a href="https://www.tandfonline.com/doi/full/10.1080/15472450.2021.1974858" target="_blank">Road Geometry Estimation Using Vehicle Trails: A Linear Mixed Model Approach</a>. <em>Journal of Intelligent Transportation Systems</em> <strong>27</strong>, 127–144.</li><li><strong>Zhang, Y.-C.</strong>, Sakhanenko, L. (2019) <a href="https://www.sciencedirect.com/science/article/pii/S0167715219301208" target="_blank">The Naive Bayes Classifier for Functional Data</a>. <em>Statistics &amp; Probability Letters</em> <strong>152</strong>, 137–146.</li><li>Chiou, J.-M., <strong>Zhang, Y.-C.</strong>, Chen, W.-H., and Chang, C.-W. (2014) <a href="http://www.tandfonline.com/doi/abs/10.1080/21680566.2014.892847" target="_blank">A Functional Data Approach to Missing Value Imputation and Outlier Detection for Traffic Flow Data</a>. <em>Transportmetrica B: Transport Dynamics</em> <strong>2</strong>, 106–129.</li><li>Fan, T.-H., Wang, Y.-F., and <strong>Zhang, Y.-C.</strong> (2014) <a href="http://www.tandfonline.com/doi/abs/10.1080/02664763.2014.894001" target="_blank">Bayesian Model Selection in Linear Mixed Effects Models with Autoregressive(p) Errors Using Mixture Priors</a>. <em>Journal of Applied Statistics</em> <strong>41</strong>, 1814–1829.</li></ol></section><section class="section_Q9Zo"><h2>Research Talks</h2><div class="talk_knG0"><p><strong>Matrix Lie Theory for the Roboticist (<a href="/talk/MatrixLieRoboticist.pdf" target="_blank">slides</a>)</strong></p><ul><li><a href="https://w2.math.ncu.edu.tw/academic/speeches/1223" target="_blank">National Central University</a>, Taiwan, February 2025</li><li><a href="https://stat-ds.ntu.edu.tw/News_Content_n_75466_s_250488.html" target="_blank">National Taiwan University</a>, Taiwan, February 2025</li></ul></div><div class="talk_knG0"><p><strong>Road Geometry Estimation Using Vehicle Trails: A Linear Mixed Model Approach (<a href="/talk/RoadShapeEstimation.pdf" target="_blank">slides</a>)</strong></p><ul><li><a href="https://w2.math.ncu.edu.tw/academic/speeches/1158" target="_blank">National Central University</a>, Taiwan, April 2022</li></ul></div></section><section class="section_Q9Zo"><h2>Education</h2><div class="edu_RToE"><div class="eduHeader_NjBz"><strong>Ph.D., Statistics and Probability</strong><span>Aug. 2013 – Jun. 2018</span></div><p>Michigan State University, USA</p><p><em>Advisor:</em> <a href="http://www.stt.msu.edu/~luda/" target="_blank">Dr. Lyudmila Sakhanenko</a></p></div><div class="edu_RToE"><div class="eduHeader_NjBz"><strong>M.S., Statistics</strong><span>Sep. 2007 – Jun. 2009</span></div><p>National Central University, Taiwan</p></div><div class="edu_RToE"><div class="eduHeader_NjBz"><strong>B.S., Mathematics</strong><span>Sep. 2003 – Jun. 2007</span></div><p>National Central University, Taiwan</p></div></section><section class="section_Q9Zo"><h2>Teaching</h2><ul><li>Teaching Assistant &amp;
22 Instructor, Michigan State University, USA (2013–2018)</li></ul></section><section class="section_Q9Zo"><h2>Honors</h2><ul><li>College of Natural Science Dissertation Completion Fellowship, Summer 2018, Michigan State University</li><li>College of Natural Science Dissertation Continuation Fellowship, Summer 2017, Michigan State University</li></ul></section></main></div><footer class="theme-layout-footer footer footer--dark"><div class="container container-fluid"><div class="footer__bottom text--center"><div class="footer__copyright">© 2026 Yi-Chen Zhang. Built with Docusaurus.</div></div></div></footer></div>
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