Kusal Tennakoon

Doctoral student in mechanical engineering with a specialization in mapping, sensor fusion, and robotic localization for autonomous systems. Proficient in integrating multi-modal sensor data, including cameras, LIDAR, GPS, and IMU, for building maps and enabling precise localization in GPS-denied environments. Experienced in developing and optimizing advanced algorithms for visual place recognition, loop closure detection, and factor graph-based localization. Skilled in simulation environments, real-time data processing, and ROS for autonomous robotics. Strong programming expertise in Python and C++, with hands-on experience in Linux-based systems. Passionate about contributing to mapping, localization, and autonomous navigation.

- AI-based Unified Framework for Visual Place Recognition and Loop Closure Detection for VTOL Application, Memorial University

• Led the development of a CNN-based visual place recognition and loop closure detection module for a VILOAM navigation system, enhancing GPS-denied navigation for VTOL aircraft.

- Place Recognition and Indoor Localization Using Google Indoor Street View, Memorial University

• Developed a ROS-based system to correct odometer drift in mobile robots using factor graph optimization and monocular visual place recognition.

- Visual Place Recognition Using Google Street View, Memorial University

• Implemented a Google Street View-based visual topological place recognition system for indoor robot localization using Bag-of-Words (BoW) in Python and OpenCV.

- Gaussian Filter Implementation on FPGA, Memorial University

• Designed and implemented a 3x3 Gaussian blur filter for image processing on an Altera DE1-SoC FPGA board using Python and VHDL.

- Vision-Based Obstacle Avoidance for a Quadcopter, University of Peradeniya

• Developed and integrated computer vision and machine learning modules for real-time obstacle avoidance on a quadcopter.

- Vision-Based Object Following Mobile Robot, University of Peradeniya

• Designed, simulated, and built a mobile robot capable of tracking and following a target object based on color detection using a camera.

- Material Identification and Failure Analysis, University of Peradeniya

• Conducted experimental analysis to identify the composition and failure mode of an unknown material fragment.

- Design of a Wheelchair Boarding Mechanism for Trains, University of Peradeniya

• Designed a mechanical system to enable independent boarding and exiting of trains by wheelchair users

• Certified SolidWorks Associate (CSWA), Dassault Systèmes, July 2018
• Convolutional Neural Networks in TensorFlow, Coursera, Nov 2020
• Introduction to TensorFlow for Artificial Intelligence, Machine Learning, and Deep Learning, Coursera, Nov 2020
• Sequences, Time Series, and Prediction, Coursera, Nov 2020
• Mental Health First Aid (MHFA), Mental Health Commission of Canada, Mar 2018

• K. B. Tennakoon, O. De Silva, G. K. I. Mann, A. Jayasiri, and R. G. Gosine, A Unified Method for Visual Place Recognition and Loop Closure Detection for Vertical Take-off and Landing Applications, IEEE Transactions on Field Robotics, Revision submitted, 2024
• K. B. Tennakoon, O. De Silva, A. Jayasiri, G. K. I. Mann, and R. G. Gosine, A Unified CNN Approach for Visual Place Recognition and Loop Closure Detection, Proc. Newfoundland Electrical and Computer Engineering Conference (NECEC), 11/23
• K. B. Tennakoon, O. De Silva, A. Jayasiri, G. K. I. Mann, and R. G. Gosine, AI-powered Visual Loop Closure and Place Recognition System for VLOAM, Proc. Artificial Intelligence for Logistics Program Conference, National Research Council of Canada, 05/17-18/23, https://nrc-publications.canada.ca/eng/home/
• K. B. Tennakoon, O. De Silva, A. Jayasiri, G. K. I. Mann, and R. G. Gosine, Factor graph localization for mobile robots using Google Indoor Street View and CNN-based place recognition, Drone Systems and Applications, 11, 2023, 1-19, https://doi.org/10.1139/dsa-2022-0045
• K. B. Tennakoon, O. De Silva, A. Jayasiri, G. K. I. Mann, and R. G. Gosine, Evaluation of a CNN-based Visual Place Recognition System for GPS-denied Navigation of VTOL Vehicles, Proc. Vertical Flight Society's 77th Annual Forum and Technology Display, 2021
• K. B. Tennakoon, Place recognition and factor graph localization for mobile robots using Google Indoor Street View, Master's thesis, Memorial University of Newfoundland, 2021
• K. B. Tennakoon, T. W. U. Madhushani, D. H. S. Maithripala, and J. V. Wijayakulasooriya, Multi-armed bandit based approach for performance enhancement of Window Intensity Test (WIT) Detector, Proc. IEEE International Conference on Industrial and Information Systems (ICIIS), Peradeniya, Sri Lanka, 2017, 1-6, https://doi.org/10.1109/ICIINFS.2017.8300397

• Wally Read Best Student Paper Award, Newfoundland Electrical and Computer Engineering Conference (NECEC) - Nov 2023
• Outstanding Teaching Assistant Award, Memorial University - May 2023
• Migara Ratnathunga Trust Award for best presentation in Mechanical Engineering internship projects, Institution of Engineers, Sri Lanka -Aug 2017
• Prof. E.F. Bartholomuez Award for the best undergraduate project in Engineering Mathematics, University of Peradeniya - Jan 2016
• First place at the Speak Out For Engineering (SOFE) Competition National Level Finals, IMechE - Jan 2015
• Second runner up at Speak Out For Engineering (SOFE) South Asian Region Finals, IMechE, London - Jan 2015

• Dr. Oscar De Silva, Associate Professor, Faculty of Engineering and Applied Sciences, Memorial University of Newfoundland, oscar.desilva@mun.ca
• Dr. George Mann, Professor, Faculty of Engineering and Applied Sciences, Memorial University of Newfoundland, gmann@mun.ca
• Dr. Raymond Gosine, Professor, Faculty of Engineering and Applied Sciences, Memorial University of Newfoundland, rgosine@mun.ca

• Institution of Electrical and Electronic Engineers
• Intelligent Systems Labootary, Memorial University of Newfoundland