Spatio-temporal referencing of camera and LiDAR sensors

The data fusion for camera devices and light detection and ranging (LiDAR) sensors provides useful information about the environment, which can be used for different purposes, e. g., 3D mapping and localization, path planning, autonomous navigation, object recognition and people tracking.

Before the data fusion can be performed two important aspects have to be considered: (1) the spatial referencing and (2) the temporal referencing. The literature and recent research activities show a number of techniques to solve the two aforementioned referencing procedures. However, the accuracy and uncertainty budget of such methods differs due to different algorithms and solution strategies. The Robot Operating System (ROS) is a convenient framework for the modular establishment and data acquisition of a multi-sensor platform, which should be utilized in this thesis.