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Multi-sensor fusion for accurate and robust robot localization
The goal of this project is to develop algorithms for fusing both laser and camera measurements for improving the robustness and accuracy of a localization and mapping system.
Keywords: Simultaneous Localization and Mapping (SLAM), Sensor Fusion, Camera, Lidar
One important Sevensense pilot project aims to deploy a ground vehicle that can autonomously navigate in highly dynamic environments. After mapping the environment, this autonomous vehicle should accurately and robustly relocalize itself everywhere, all the time. Although current state-of-the-art uni-modal localization solutions provide accurate positioning, they lack robustness for such challenging use-cases.
The goal of this master project is therefore to develop techniques for achieving accurate and robust localization by using multiple sensor modalities. Specifically, the student will design a Simultaneous Localization and Mapping (SLAM) algorithm that fuses measurements from a LiDAR, an active sensor technology that measures geometric structure, and a multi-camera rig which measures visual appearance of the environment. The proposed solution should be designed with real-time operation in mind such that it can be embedded into our products. According to the student’s interests there are multiple research avenues which we would be excited to explore.
During this project, the student will develop the code (incl. C++ and Python) within a common codebase, learning the industry standard development practices that include code reviews and unit testing. Finally, by the end of the project, the student will have contributed to ongoing research and developed considerable knowledge in the quickly developing topics related to localization and mapping, using both cameras and lidars. The hands-on experience with a mobile robotic platform will further augment this experience with a deep understanding of software-hardware interplay.
**What We Offer**
- Contribute to ongoing research in the exciting and highly dynamic field of robot localization.
- Join an active team of developers at Sevensense: a Zurich-based robotics startup, and collaborate with the Autonomous Systems Lab: one of the largest robotic research teams in the world.
- Deploy successful algorithms to different robotic platforms.
One important Sevensense pilot project aims to deploy a ground vehicle that can autonomously navigate in highly dynamic environments. After mapping the environment, this autonomous vehicle should accurately and robustly relocalize itself everywhere, all the time. Although current state-of-the-art uni-modal localization solutions provide accurate positioning, they lack robustness for such challenging use-cases.
The goal of this master project is therefore to develop techniques for achieving accurate and robust localization by using multiple sensor modalities. Specifically, the student will design a Simultaneous Localization and Mapping (SLAM) algorithm that fuses measurements from a LiDAR, an active sensor technology that measures geometric structure, and a multi-camera rig which measures visual appearance of the environment. The proposed solution should be designed with real-time operation in mind such that it can be embedded into our products. According to the student’s interests there are multiple research avenues which we would be excited to explore.
During this project, the student will develop the code (incl. C++ and Python) within a common codebase, learning the industry standard development practices that include code reviews and unit testing. Finally, by the end of the project, the student will have contributed to ongoing research and developed considerable knowledge in the quickly developing topics related to localization and mapping, using both cameras and lidars. The hands-on experience with a mobile robotic platform will further augment this experience with a deep understanding of software-hardware interplay.
**What We Offer**
- Contribute to ongoing research in the exciting and highly dynamic field of robot localization. - Join an active team of developers at Sevensense: a Zurich-based robotics startup, and collaborate with the Autonomous Systems Lab: one of the largest robotic research teams in the world. - Deploy successful algorithms to different robotic platforms.
- Make yourself familiar with our vision-based SLAM framework as well as current state-of-the-art lidar-based solutions.
- Investigate different fusing methods and design and implement the most promising strategy.
- Build upon the state of the art by developing your own ideas and your supervisor's input.
- Design and conduct experiments with a mobile robot to evaluate the selected approach.
- Make yourself familiar with our vision-based SLAM framework as well as current state-of-the-art lidar-based solutions. - Investigate different fusing methods and design and implement the most promising strategy. - Build upon the state of the art by developing your own ideas and your supervisor's input. - Design and conduct experiments with a mobile robot to evaluate the selected approach.
- Strong self-motivation and curiosity for solving challenging robotic problems.
- Excellent programming skills (i.e. having written several thousand lines of code) in C++ and the ability to work on large code bases.
- Experience with Linux, ROS, and typical development tools such as git or Jenkins are advantageous.
- A very good academic record is desirable but may be compensated by expert knowledge in the areas mentioned above.
- Strong self-motivation and curiosity for solving challenging robotic problems. - Excellent programming skills (i.e. having written several thousand lines of code) in C++ and the ability to work on large code bases. - Experience with Linux, ROS, and typical development tools such as git or Jenkins are advantageous. - A very good academic record is desirable but may be compensated by expert knowledge in the areas mentioned above.
If you are interested, please send your CV and transcripts to Marcin Dymczyk (marcin.dymczyk@sevensense.ch) and Renaud Dubé (renaud.dube@sevensense.ch).
If you are interested, please send your CV and transcripts to Marcin Dymczyk (marcin.dymczyk@sevensense.ch) and Renaud Dubé (renaud.dube@sevensense.ch).