Signal Processing and Speech Communication Laboratory
hometheses & projects › Automatic Measurement of Room Impulse Responses via Autonomous Robots

Automatic Measurement of Room Impulse Responses via Autonomous Robots

Status
Finished
Type
Bachelor Project
Announcement date
01 Jan 2020
Student
Markus RitzerSebastian Ɯberreiter
Mentors
Research Areas

Abstract

This bachelor thesis conquers the problem of automatic measurement of room impulse responses via autonomous robots, i.e. the room impulse measurement and the localization of the robot via a LIDAR, a laser scan matcher. The LIDAR has been combined with a Robot Operating System, in this case ROS kinetic, running on a RaspberryPi with Ubuntu Mate. Via the combination of individual packages, such as Hector-SLAM and Python RosPy, the localization of the LIDAR in the room has been achieved. Hector SLAM is used as a lightweight SLAM-alternative for localization and mapping and Python RosPy for communication with the LIDAR and usage of different code parts. All of this combined allows the given system to retrieve the x and y position of the LIDAR on a given map of a room. The LIDAR, even without odometry, is a lightweight option, to localize a given robot inside any random environment, as long as it is not too big, since the LIDAR has a maximal range.