ST Engineering

2025-05 to 2025-08

ROS2
LiDAR
Gazebo
Python

Intern

Evaluated LIDARs on USVs (Unmanned Surface Vessels) for vessel tracking and berthing.

  1. Generated and simulated point clouds at maritime conditions with Gazebo simulations. Interfaced with the Ouster OS2 LIDAR.
  2. Processed LIDAR point clouds with ROS2 and the Point Cloud Library, using algorithms such as voxelization, object tracking, image projection, and a YOLOv4 object recognition model.
  3. Compared the data with stereo vision data. Time-synced the data and matched the different coordinate frames.
  4. Assisted with sea trials, UWB radio calibrations, and data processing of sea trial data using Jupyter notebooks and Python.