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Engineer Engineering

Amsterdam, North Holland, The Netherlands
July 12, 2019

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Tehran, Iran




Guidance, Navigation and Control (GNC),

Machine learning,

Computer vision,



PhD Tarbiat Modares University-Tehran-Iran.

September 2014 – May 2019


Aerospace (Flight Dynamics & Control)



Relevant Courses:

Advanced Flight Dynamics, Optimization, Spacecraft Flight Dynamics and Control, and Flight Simulation.

Master of Science Malek Ashtar University of Technology-Tehran-Iran.

September 2007 – February 2010


Electronics (Navigation Specialty)



Relevant Courses:

Image Processing, Audio Processing, Digital Signal Processing, Electronic Circuit Design, Interfacing Circuits, VLSI Circuit Design. Bachelor Science Malek Ashtar University of Technology-Isfahan-Iran.

September 1997 –September 2001


Electrical Engineering (Electronics)



Relevant Courses:

Circuit design, Micro Processors, Computer design, and Linear Control. PUBLICATIONS



M. Arbabmir, M. Ebrahimi, “Vision-Inertial navigation system based on new approach in tracking and evaluating of feature points”, 2019 Journal of Space Science & Technology(JSST),Iran

M. Norouz, M. Ebrahimi, M. Arbabmir, “A Review of Integrated Navigation System GPS/INS Methods and Study of New Approaches in This Field”, 2017 Journal of Mechanic Engineering of Iran.

M. Arbabmir, M. Norouz, M. Ebrahimi, “A review of the types of visual navigation methods for navigation applications in unmanned aerial vehicles”, 2017 Journal of Space Science & Technology (JSST), Iran.

J. Keighobadi, S. Rafatnia, H. Noormohammadi, M. Arbabmir,”Design and Implementation of Altitude Estimation Algorithm in the Integrated Barometric- inertial Altimeter Using Model Predictive Control”, 2017 Journal of Mechanic Engineering of Iran

M. Arbabmir, S. M. Mohammadi, S. Salahshour, F. Somayee, “Improving night sky star image processing algorithm for star sensors”, Apr 2014 Journal of the Optical Society of America A, DOI:10.1364/JOSAA.31.000794 Article Submitted:

M. Arbabmir, M. Ebrahimi, “Visual-Inertial State Estimation With Camera and Camera-IMU Calibration”, Elsevier Journal: Robotics and Autonomous Systems, 2019

M. Arbabmir, M. Ebrahimi, “FPDE: An Optimal and Robust Outlier Rejection for Visual-Inertial Odometry System”, Springer Journal: Machine Vision and Applications, 2019

M. Arbabmir, M. Ebrahimi, “Simultaneous Filter Tuning and Calibration of Camera and IMU-Camera for a Vision Inertial Navigation System”, Journal: IET Image Processing, 2019


M. Norouz, M. Ebrahimi, M. Arbabmir, “Optimization of UKF parameters for increasing the vision/INS accuracy using genetic algorithm”, Feb 2017, 16th International Conference of Iranian Aerospace Society.

M. Norouz, M. Ebrahimi, M. Arbabmir, “survey on GPS/INS”, Feb 2017, 16th International Conference of Iranian Aerospace Society.

M. Norouz, M. Ebrahimi, M. Arbabmir, “Modified Unscented Kalman Filter for improving the integrated visual navigation system”, May 2017 Iranian Conference on Electrical Engineering (ICEE), DOI: 10.1109/IranianCEE.2017.7985139.

M. Norouz, M. Ebrahimi, M. Arbabmir, “The improvement of Position and Attitude of integrated VO/INS navigation system”, Feb 2016, 1st International and 2nd Iranian Navigation Conference.

S. Mohammadloo, M. Arbabmir, M. Goodarzi, “Accurate Navigation of a Robotic Spacecraft by tracking a ground object”, July 2014, National Conference on Advances in Engineering and Basic Sciences

S. Mohammadloo, M. Arbabmir, H. Ghanbarpour, ”New Constrained Initialization for Bearing-Only SLAM”, Nov 2013 IEEE International Conference on Control System, Computing and Engineering (ICCSCE), DOI: 10.1109/ICCSCE.2013.6719939


M. Arbabmir, H. Ghanbarpour, H. Deghani, “Correction of positon, velocity and attitude of a UAV using sequenced images in unknown environment”, Nov 2011, 19th Iranian Conference on Electric Engineering

M. Arbabmir, H. Ghanbarpour, H. Deghani, “Selection of the best features in sequence image matching for a UAV”, Oct 2011, 7th Iranian Conference on Machine Vision and Image Processing


R&D Engineer. Aseman Simorgh Hooshmand Company, Tehran.

Dec 2015 – present

We have been working on:

1. Guidance, Navigation and Control (GNC),

2. Robotics,

3. Vision Navigation (Visual Odometry and SLAM),

4. Deep Learning.

R&D Engineer. Institute of Navigation, Tehran.

Oct 2001 – Dec 2015

I worked on:

1. Inertial Navigation Systems(Designing, Testing, and Manufacturing)




2. Inertial Sensors



Implementation(A2D, V2F, Control Loop, and Driver)

Identification of Sensor Parameters

3. Electronic design and Processors

Analog and Digital Design


AVR, and DSP


GPS/INS Algorithm

AHRS algorithm

Extended Kalman Filter

Barometer and Magnetometer

DSP Processor

5. Geomagnetic Navigation System

Geomagnetic model

Calibration of magnetometer

Matching magnetic row with geomagnetic model

6. Star Sensor

Simulation of celestial sphere

Image Preprocessing


Star Centroiding

Star Identification


Attitude determination

7. Vision Navigation

Optical Flow

Feature Tracking


Simultaneous Localization And Mapping(SLAM)

Scene Matching(SIFT,SURF algorithms)

Unscented Kalman Filter

6 Degree Of Freedom(DOF) Simulation

8. Guidance, Navigation and Control

Design and Implementation of Autopilot for Flying Robot

Flight Simulation

Hardware In the Loop

PhD Student. Tarbiat Modares University, Tehran.

September 2014 – May 2019

Improvement of a Vision-INS System based on Integration of Vision Navigation Systems for a flying robot

Under Dr. Masoud Ebrahimi

We worked on:

1. Monocular Visual Odometry,

2. Optical Flow,

3. Feature Tracking,

4. Unscented Kalman Filter

5. Performance improvement by optimization approach, 6. Camera Calibration

7. 6 Degree Of Freedom(DOF) Simulation

8. Implementation and evaluation on the KITTI benchmark dataset. Master Student. Malek Ashtar University of Technology, Tehran.

September 2007 – September 2010

Navigation Improvement of Integrated Vision/INS System for a UAV in Unknown Environment

Under Dr. Habib Ghanbarpour Asl and Dr. Hamid Dehghani

We worked on:

1. Vision aided Navigation System,

2. Inertial Navigation System (INS),

3. EKF for data fusion,

4. 6 DOF Simulation,

5. SLAM.

Bachelor Student. Malek Ashtar University of Technology, Isfahan.

September 1997 –Oct 2001

Converting the analog indicators to digital display

Under Dr. Ehsani

We worked on:

1. Analog sensors,


2. Analog Indicators,

3. Digital Display,

4. Microprocessor and A2D,

5. Filtering and Denoising.


T.A.: September-December 2015, Inertial Navigation System, Department of Mechanical Engineering, Tarbiat Modares University, Tehran. T.A.: September-December 2016, Estimation Theory, Department of Mechanical Engineering, Tarbiat Modares University, Tehran.

T.A.: February-May 2016, Advanced Navigation Systems, Department of Mechanical Engineering, Tarbiat Modares University, Tehran.


Programming: MATLAB, Simulink, Python, C++.

Libraries: MatConvNet, Tensorflow, ROS.

OS: Linux (Ubuntu), Microsoft Windows.


Persian: Fluent, Native.

English: Academic proficiency.

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