NIGEL

Network of IMUs, GNSS, EO-IR and LIDAR  (https://sites.google.com/view/lager-nigel/home)

Project under LAGER lab to support NASA SBIR efforts

Generation of public dataset to leverage research in robust SLAM solution utilizing thermal cameras as exteroceptive sensors. This project involve:

• Development of custom UVC-based camera loggers, LIDAR logger, IMU and GNSS logger using C++ and Python to ensure data rate consistency 

• Development of custom PCB to breakout camera electrical interface and custom camera hardware synchronization board that also discipline the pulses train to PPS

• Intrinsics and extrinsic calibration of camera (thermal and optical), LIDAR, IMUs and GNSS antenna position using Kalibr, LVT2, allan deviation analysis and Optitrack system

• Groundtruth generation via development of 15-state ES-EKF for INS/GNSS fusion between tactical grade IMU and three GNSS with RTK moving baseline configuration

Publication 

• T. D. Luong, A. Q. Markin, and J. D. Larson, “Dataset for Fusion of Stereo Thermal, Optical, Scanning Mirror LiDAR, and Inertial Sensors for Navigation in Urban and Unstructured Environments,” in 2025 IEEE/ION Position, Location, And Navigation Symposium (PLANS), May 2025, accepted