LiDAR-Thermal Husky UGV Platform

In this project, I developed a UGV platform that is capable of collecting LiDAR, thermal image, and IMU data for SLAM. I designed mounts for the sensor system and a mini PC, set up the radio control system, and performed LiDAR-Camera Calibration. I collected data inside the engineering department building of SNU, and tested LIO-SAM on the dataset. More information on the project can be found in the downloadable presentation slide on the upper right.

The frame was made of 10mm x 10mm aluminum profile, with the IMU and FLIR placed at H=130mm. The LiDAR was directly attatched to the frame, while the IMU, FLIR, and Mini PC were fixed to a 3D printed mount.

Power converters were used to match the input voltages of the sensors.

A remote control system was set up to control the HUSKY, using ROS.

LiDAR, Thermal Camera, and IMU data was collected in the engineering department building of SNU, and LIO-SAM succeeded in loop closure.

The intrinsic/extrinsics for LiDAR-Camera calibration was obtained by a calibration toolbox.