Ethan Eade


  • Lie groups for Computer Vision (reference): [PDF] (updated 2014-12-25)
  • Lie groups for 2D and 3D Transformations (more detail and derivations): [PDF](updated 2017-05-20)
  • Differential of the Exponential Map (with some closed-form results): [PDF](cosmetic updates on 2017-05-20)
  • Hermite Splines in Lie Groups as Products of Geodesics: [PDF](updated 2017-01-07)
  • Gauss-Newton Optimization: [PDF]
  • Rotation between two 3-vectors: [PDF]
  • Process Noise for Gaussian Random Walks: [PDF]

Various Code

  • Lie Groups (Standalone C++ Lie groups implementations)
  • ECV (C++ computer vision prototyping)
  • LATL (Linear Algebra Template Library)
  • MathBits (a few bits and bobs)
  • GLWindow (Basic cross-platform OpenGL windows)
  • Utils (KD-trees, Hamming distance, heaps, etc.)

Education and Employment

  • Since December 2016, I've been employed at Aurora Innovation (Pittsburgh, PA).
  • From September 2015 to December 2016 I was employed at Uber Advanced Technologies Center (Pittsburgh, PA), working on autonomous vehicles.
  • From July 2011 to September 2015 I was employed at Microsoft (Redmond, Washington), working on SLAM and sensor fusion for HoloLens.
  • From October 2008 to June 2011 I was employed at Evolution Robotics (Pasadena, California), working on visual SLAM for consumer robots.
  • I did my PhD at Cambridge University (Cambridge, England) from 2004 to 2008, on simultaneous localisation and mapping (SLAM) with a single video camera in real time, under the supervision of Dr. Tom Drummond.
  • I received undergraduate degrees in Computer Science and Mathematics from Duke University in 2004.

Research (old stuff)

PhD Thesis

Peer Reviewed Publications