>Worked under the mentorship of Yang Zhou and the supervision of Prof. Giuseppe Loianno for adaptive keyframe selection. >Focused on scene reconstruction in dynamic environments using a transformer-based architecture. >Developed a model to regress point maps directly from RGB images for unstructured scene understanding. >Employed error-based metrics and momentum-based keyframe control to optimize frame selection. >Reduced the number of required keyframes while improving reconstruction quality and efficiency on the drone. 