Development of an integrated extrinsic and intrinsic calibration approach for LiDARs in the context of MSSs

Low-cost laserscanners (also LiDARs) are used in many applications to capture the environment. Common uses of these sensors are for localization of robots in logistic halls or of autonomous cars. Other use cases include mobile mapping, which enables a quick capturing of large volumes. Even though the sensors are widely used, calibration approaches are not standardized yet, especially in comparison to cameras. Goal of this master thesis is the development of calibration approach for a LiDAR employed in a multi-sensor system (MSS). The calibration should be able to estimate intrinsic parameters, such as corrections to the measurements, and extrinsic parameters to fuse the acquired point clouds with other sensors of the MSS. For both types of these calibrations, prior work has been done for a Velodyne VLP-16 and can be integrated. Possible objectives include the optimization of the calibration setup, automation of the work flow, further development of corrections for LiDARs, transfer to other sensors and more. For this thesis, the applicant should have good programming skills (Matlab/Python) and should know the basics of laser scanning/ LiDAR systems as well as adjustment/optimization techniques.

Language: German/English