Laser Range finders have been extensively used in the field of Robotics for Perception, however most approaches focus on extraction of information from range based readings. Laser range finder also provide Intensities which can provide additional information about the environment which can be utilized for various purposes. Laser intensities are very sensitive to Distance and Orientation, thus the aim of this Bachelors/Masters thesis is develop a model for Laser intensities which is invariant to Distance and Orientation.

The main steps involved in this Thesis are:

1) A detailed literature review of existing approaches towards modeling laser intensities.

2) Model laser intensities based on different regression algorithms.

3) Experimental evaluation of the built model by testing it on an actual robot and building an information map based on intensities.

Prerequisites:

• Good programming skills C / C++

 Helpful but not required:

• Acquainted with Linux
• Experience with ROS

Supervisors:

1) Sheraz Khan (contact: sheraz@lsr.ei.tum.de)