Master thesis proposal • Highest grades from relevant Master program

3D Localization from dense RGB-D data • Knowledge of image analysis

and dedicated maps
In the trace of upcoming hi-resolution range sensors, global
localization from dense point cloud information has emerged
as a viable technique. Due to the vast amount of data, tra-
ditional deterministic techniques, such as the various types
of Iterative Closest Point (ICP), are unfeasible as they tend
not to scale well with increased data ows and frame rates.
In a wider sense, the before mentioned algorithms are also
prone to divergence should the rst initial pose lie too far
from the correct one, which also make them sensitive to
ego velocity and a sucient, usually both unrealistic and
unnecessary, frame rate.
Historically most attempts within 3D localization have
made use of a point cloud (PC). Nowadays, however, there
are many sensors producing both a PC and a color picture,
i.e. a RBG-D image. The advantage in making use of both
the PC and the image is that the increased amount of data
can give a more accurate and robust localization, given ad-
equate processing capability for a realistic frame rate. Even
so, most current state-of-the-art methods use deterministic
methods [1].
Previous master thesis on the subject showed the poten-
tial of the method [2].
• Prociency of programming in Keras on Tensorow
• Deep understanding and experience of articial intelli-
gence algorithms, e.g. GA, RNN and PSO
• Prociency in technical report writing
The work will be done at CPAC Systems AB, with start
in the beginning of 2020 and with the duration of ≥ 20
weeks (30 ECTS).
Supervisor will be Robert Brenick, CPAC Systems
AB and examiner Peter Forsberg, Applied Articial In-
telligence Group, M2, Chalmers University of Technology.
Please observe that successful candidates have to pass
CPACs as well as Applied Articial Intelligence Group [3]
criteria.
If you nd this proposal interesting please send your
application with CV and current transcript to:
Robert Brenick - CPAC Systems AB
mail: Robert.Brenick@cpacsystems.se
References
[1] M. Paton and J. Kosecka: Adaptive RGB-D Localiza-
tion, Canadian Conference on Computer and Robot Vi-
sion (CRV), June 2012.
[2] S. Bastås, R Brenick: Outdoor global pose estimation
from RGB and 3D data, Masters thesis - Department of
Mechanics and Maritime Sciences, 2019.
[3] Applied Articial Intelligence Group master thesis
policy, www.me.chalmers.se/~mwahde/MasterTheses.
html

Figure 1: High density point cloud [2]

This work aims at exploring new ways to make fast high

density RGB-D localization from dedicated maps and thus
make the method more general and applicable in reality.
Activities included in the thesis work:
• Literature study of the high-density RGB-D localiza-
tion problem
• Implementation with simulation and real world data
• Construction of suitable map contents and format
• Generalization for use on arbitrary map with sucient
information
We are looking for two persons with a zest for AI who
meet the following requirements:
1