Ball, John E.

Committee Member

Archibald, Christopher

Committee Member

Du, Qian

Committee Member

Fowler, James E.

Date of Degree


Original embargo terms


Document Type

Graduate Thesis - Open Access


Electrical and Computer Engineering

Degree Name

Master of Science


James Worth Bagley College of Engineering


Department of Electrical and Computer Engineering


For autonomous vehicles, 3D, rotating LiDAR sensors are critically important towards the vehicle's ability to sense its environment. Generally, these sensors scan their environment, using multiple laser beams to gather information about the range and the intensity of the reflection from an object. For multi--LiDAR systems, the placement of the sensors determines the density of the combined point cloud. I perform preliminary research on the optimal LiDAR placement strategy for an off--road, autonomous vehicle known as the Halo project. I use simulation to generate large amounts of labeled LiDAR data that can be used to train and evaluate a neural network used to process LiDAR data in the vehicle. The performance metrics of the network are then used to generalize the performance of the sensor pose. I also, describe and evaluate intrinsic and extrinsic calibration methods that are applied in the multi--LiDAR system.



Autonomy||LiDAR||Machine Learning||Neural Network||Calibration||Vehicle||Off Road||Simulation||co-registration||optimization