Master Thesis - Pointcloud Mapping for Autonomous Outdoor Navigation

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.

What you will do

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.

What you bring to the table

• 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

What you can expect

• 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)

We value and promote the diversity of our employees' skills and therefore welcome all applications - regardless of age, gender, nationality, ethnic and social origin, religion, ideology, disability, sexual orientation and identity. Severely disabled persons are given preference in the event of equal suitability.

With its focus on developing key technologies that are vital for the future and enabling the commercial utilization of this work by business and industry, Fraunhofer plays a central role in the innovation process. As a pioneer and catalyst for groundbreaking developments and scientific excellence, Fraunhofer helps shape society now and in the future.

Interested? Apply online now. We look forward to getting to know you!

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 Institute for Manufacturing Engineering and Automation IPA

Requisition Number: 78493Application Deadline: