Master Thesis: Class-aware Pointcloud Filtering and Matching for Long-Term SLAM

Fraunhofer Gesellschaft; Stuttgart; Vor Ort; EUR 11.000 - 17.000; Teilzeit

Zusammenfassung

Fraunhofer IPA in Stuttgart is offering a Master Thesis opportunity focused on class-aware pointcloud filtering and matching for long-term SLAM. You will implement your solution inside our ROS2, C++ navigation stack and evaluate its performance in simulation and on CURT robots in real-world scenarios.

Requires enrollment at a German university, programming experience, and fluency in English or German. Experience with ROS is a plus, and you will work closely with the Navigation Mobile Robots

Qualifikationen

• Valid enrollment at a German university or college.
• Programming knowledge and experience.
• Experience with ROS is a plus.
• Analytical mindset and problem solving.
• Enthusiasm for mobile robotics.
• Fluent in English or German.

Aufgaben

• Implement class-aware pointcloud filtering and matching for long-term SLAM inside the ROS2, C++ navigation stack.
• Evaluate performance in simulation and real-world CURT robot scenarios.

Kenntnisse

Programming knowledge

C++

ROS

Analytical mindset

Mobile robotics

English or German

Ausbildung

Enrollment at a German university

Jobbeschreibung

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Master Thesis: Class-aware Pointcloud Filtering and Matching for Long-Term SLAM

The Fraunhofer-Gesellschaft (www.fraunhofer.com ) is one of the world's leading organizations for application-oriented research. 74institutes develop pioneering technologies for our economy and society – more precisely: 30000 people from technology, science, administration and IT. They know: Anyone who comes to Fraunhofer wants to and can make a difference. For themselves, for us and for the markets of today and tomorrow.

Call for applications for the field of study, such as: Computer Science, Software Engineering, Mechanical Engineering, Mechatronics or similar

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

Be part of change

Since these outdoor applications have constantly changing environments due to weather conditions, seasonal variations, new constructions, and dynamic obstacles, the robot must continuously update its reference map of the whole environment. The localization module must understand which parts of the environment are static and which are semi-static or dynamic and update the global pointcloud reference map accordingly. Furthermore, the scan matching of the live pointclouds with this sparser global pointcloud map must be improved to get good pose estimate even with many dynamic obstacles blocking the view.
You will implement your solution inside our ROS2, C++ navigation stack and evaluate its performance both in simulation and in different real-world scenarios with our mobile CURT robots.

What you contribute

• Valid enrollment at a German university or college
• Programming knowledge and experience
• Experience with ROS is a plus
• Analytical mindset
• Enthusiasm for mobile robotics
• Fluent in English or German

What we offer

• Cutting-edge technology in the field of outdoor mobile robotics
• Hands on with our robots in Stuttgart
• Take on responsibility and freedom to implement your own ideas
• Work with the best students in their discipline

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. Our tasks are diverse and adaptable – for applicants with disabilities, we work together to find solutions that best promote their abilities. Remuneration according to the general works agreement for employing assistant staff.

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.

Fraunhofer Institute for Manufacturing Engineering and Automation IPA