Master Thesis - Pointcloud Mapping for Autonomous Outdoor Navigation - #2231115

In the Professional Service Robots - Outdoor research group we develop autonomous mobile robots for a variety of outdoor applications, such as agriculture and forestry. The focus is on the development of an autonomous outdoor navigation solution as well as the hardware of the robots.

For localizing the robot in its environment, we utilize LiDAR-inertial localization in 3D, with dynamic and static pointcloud maps of the environment. In large environments, creating and managing those maps is a challenge that needs to be solved. To create a global representation of an environment of a robot, multiple small maps of the entire area of interest are generated. These small sub-maps overlap on several transistions. In this thesis, you will explore methods of merging small sub-maps into one combined representation or ways of managing multiple sub-maps of the environment and smoothly transitioning between them for other navigation tasks such as planning and localization. With focus on long-term SLAM approaches, strategies for updating the map or parts of it when the environment changes should be developed, and semantically separating the map (such as static vs. dynamic parts of the environment) are to be explored.

Was Sie bei uns tun

You will evaluate existing approaches for switching, merging and updating pointcloud maps for robot navigation, and choose a strategy which is appropriate for the navigation software stack and the application of wheel based outdoor robots. You will then implement your solution inside our software setup (ROS 2, C++) and integrate it with existing components such as the LiDAR-inertial localization module or implement standalone programs for pointcloud map manipulation. For testing the implementation, you will have access to both recorded data and regular real-life testing with our CURT robots.

Was Sie mitbringen

• Background in Computer Science, Software Engineering, Electrical Engineering, Mechatronics or similar
• Enrolled student at a German university
• Profound knowledge of C++
• Experience with ROS
• Background in robot mapping approaches
• Enthusiasm for mobile robotics
• Fluent in English or German
  
  
  

Was Sie erwarten können

• A leading research team in the outdoor mobile robotics
• You work on our robots in real life applications
• Responsibility and freedom to implement your own ideas
• Work with the best students in their discipline
• Familiar atmosphere including Feature Friday (cake + presentations or demos)
  
  
  

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If you are interested, please upload a short letter of motivation, CV and current grade transcript in our job portal.

If you have any questions about the application process, please contact:

Jennifer Leppich

Recruiting

Tel. +49 711 970-1415

[email protected]

For questions about the content of the Master's thesis, please contact:

Jonas Otto

Navigation mobile Roboter

[email protected]

Fraunhofer-Institut für Produktionstechnik und Automatisierung IPA

www.ipa.fraunhofer.de

Kennziffer: 78493 Bewerbungsfrist: