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Drew Scheffer I am a first year PhD student in the AI Lab at the University of Michigan advised by Prof. Stella Yu. I also earned my BSE (2020-2023) and MSE (2023-2024) at the University of Michigan. Last summer, I continued my internship at the NASA Jet Propulsion Laboratory working on the surface simulation software for the Mars 2020 mission, Mars Sample Return mission, and the soon-to-be-launched CADRE tech demo. Please feel free to reach out with any questions, inquiries, or jokes via my (scrambled) email below :) hvi{womw@yqmgl.ihy -- |
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ResearchI'm broadly interested in robotics, computer vision, deep learning, and image processing. At the moment, I'm particularly interested in active perception in embodied AI. |
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MorphEUS: Morphable OmnidirEctional Unmanned System
Ivan Bao*, José C. Díaz Peón González Pacheco*, Atharva Navsalkar*, Drew Scheffer*, Sashreek Shankar*, Andrew Zhao*, Hongyu Zhou*, Vasileios Tzoumas ICRA Workshop, 2025 (*Ordered Alphabetically) project page / pdf MorphEUS is a compact, morphable co-axial quadrotor that enables efficient, resilient omnidirectional flight with independent position and orientation control, making it ideal for close-range inspection and manipulation tasks. |
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Wreck-tify: Consistent Diffusion Correction For Shipwreck Mapping
Drew Scheffer, Ashwin Saxena, Christian Foreman Class Project, 2024 presentation / github / pdf Our team presents various diffusion-based underwater image restoration methods that are used to dehaze and color-correct underwater images such that they are conducive to above-water SLAM and scene reconstruction pipelines. |
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Da-TRASH: Depth-appended Tabletop Recycling Algorithm
for Segmenting Havoc
Drew Scheffer, Ashwin Saxena Class Project, 2023 project page / github / pdf Our group extends upon previous work by adapting an existing Unseen Object Instance Segmentation (UOIS) model so that it can perform segmentation on RGB-only images. |
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Treble in the Sheets: Optical Music Recognition
Drew Scheffer, Ashwin Saxena, Christian Foreman Class Project, 2022 video / github / pdf This work presents a simplified optical musical recognition system. Our system takes images of sheet music as input and outputs both an image of the annotated sheet music and a MIDI file for easy parsing |
A Selection of Cool Projects |
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Michigan Autonomous Aerial Vehicles (MAAV)
Fall 2020 - Summer 2023 website / design review / github Software lead for an on-campus drone project team. Responsible for designing and implementing a completely autonomous software stack for a quadrotor using ROS integrated with the PX4 flight controller. Managed the development and integration of path planning, localization, and computer vision algorithms. |
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Quick Action
February 2022 website / demo / github An IOS app with the ability to localize a user in a room, and create a custom AR map to the nearest exit of the building. MHacks hackathon winner. |
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Chess Engine
April 2022 - Present github C++ SDL chess engine! A work in progress. Uses bitmaps structure to store the game board and an alpha-beta pruning search algorithm. |
Game Development |
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Sub-merged Conflicts
Christian Foreman, Drew Scheffer, Adam Scovera, Manish Venumuddula Collaborative 7-week game design project where you and a friend are underwater explorers on a mission to find the treasure, navigate through treacherous currents, encounter dangerous creatures, and use your teamwork skills to keep your submarine safe and strike gold! |
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Periodic Puffins
Drew Scheffer A video game prototype by where you play as a pixelated puffin who’s hungry for FISH. However, like in life, you’re not in complete control… |
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Zelda -- The Legend of Duck
Christian Foreman, Drew Scheffer Video game design project that implements the Legend of Zelda's first dungeon in addition to a custom level! |
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Based on this template. |