LARSEN & TOUBRO DEFENCE

STRATEGIC ELECTRONICS CENTRE

SUMMER INTERNSHIP REPORT
28th May, 2018 – 29th June, 2018

NAME: S VARUN KUMAR

BRANCH: B.E - INSTRUMENTATION AND CONTROLS
COLLEGE: ST. JOSEPH’S COLLEGE OF ENGINEERING, CHENNAI 600 119.
PROJECT: ICRS – INTELLIGENT COLLABORATIVE ROBOTIC SYSTEM
GUIDE: Mrs. APARNA PAI, Mr. E. JERALD MELVIN
DEPT: DESIGN AND ENGINEERING

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 TABLE OF CONTENTS
1. ACKNOWLEDGEMENT

2. ABOUT THE COMPANY

3. SUMMARY OF THE INTERNSHIP

4. INTERNSHIP CERTIFICATE

5. PROJECT WORK

6. ANALYSIS OF PROJECT STATEMENT

6.1 ROBOTIC OPERATING SYSTEM (ROS)

6.2 SLAM ALGORITHM

6.3 STEREO ZED CAMERA

6.4 SYSTEM SPECIFICATIONS

7. EXECUTION AND IMPLEMENTATION

8. STEPS UNDERTAKEN TO COMPLETE THE TASK

9. PROBLEMS FACED

10. SOLUTIONS PROVIDED

11. EXPERIENCE GAINED/ACHIEVEMENTS FROM THE TRAINING

12. OBTAINED PROJECT RESULTS

13. ADDITIONAL TASK

14. CONCLUSION

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 1. ACKNOWLEDGEMENT
I would like to begin with a saying “Make hay while the sun still shines” referencing that make use of
opportunities that present itself to you without hesitation. Owing to my project presentation and receiving
award from the Hon’ Defense Minister and Secretary of Defense at DEFEXPO 18’ at Chennai for the
competition Solution to Problems - Open Challenge Contest conducted by Ministry of Defense, I was
enthralled to get an Internship opportunity at Larsen and Toubro Defense, Strategic Electronics Centre,
Bengaluru after my interaction with Mr. Harshan Budke , GM, Powai, Mumbai at DEFEXPO 18’. The internship
opportunity I had with Larsen and Toubro Defense gave me a great chance for learning and professional
development. I consider myself as a very lucky individual as I was provided with an opportunity to be a part
of ICRS (Intelligent Collaborative Robotics System) project. I am also grateful for having a chance to meet so
many talented people and professionals who led me though this internship period.
Bearing in mind this valuable opportunity I would like to express my deepest gratitude and special thanks to
the Mr K L Viswanathan and Mr Rajesh Kumar [Manager – HR] who in spite of their busy duties, took time
out to hear, guide and keep me on the correct path, allowing me to carry out my training at their esteemed
organization
I express my deepest thanks to Mrs Aparna Pai, for identifying my interest in robotics and placing me in the
suitable project to bring out my fullest skills and giving necessary advices and guidance and arranged all
facilities to make my internship easier. It is my radiant sentiment to place on record my best regards, deepest
sense of gratitude to Mr. Jerald Melvin Elango, for his careful and precious guidance which were extremely
valuable for my study both theoretically and practically.
I perceive this opportunity as a big milestone in my career development and strive to use the gained skills
and knowledge in the best possible way, and I will continue to work on their improvement. Last but not the
least I would like to thank all the members in the Design and Engineering team for being helpful duing my
internship period.

2. ABOUT THE COMPANY

L&T is one of India's leading companies for supply of Defence Equipment and Systems in the private sector,
with over 30 years of experience in this field. They provide indigenous, design-to-delivery solutions across
the defence spectrum – from land-based weapon launch systems, air defence and artillery systems and
upgrades, to naval weapon launch systems with fire control solutions, bridging systems, communication,
avionics, C4I and missile systems.

L&T also offers specialised defence construction solutions like underground structures, military bases,
storage depots, smart infrastructure and modernisation of existing facilities. The InfoTech offering provides
seamless integration of solutions that enhance both administrative and tactical efficiency of the armed
forces.

L&T's defence equipment manufacturing facilities, across the country, leverage latest design and
manufacturing technologies. These help produce reliable defence systems, which provide the decisive edge.
The L&T defence at Bengaluru with its next generation technology oriented workforce and state-of-the-art
communication & sensor labs, has a core capability in Strategic Product & Systems development in the areas
of Military Communication, Network Centric Warfare Systems and Sensors for NBCR detections and
explosive detection and has great promising future in handling robotics projects as well.

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 3. SUMMARY OF THE INTERNSHIP
An internship at L&T Defense requires dedication and sound technical knowledge was always in the back of
my mind. My first week of internship started off by assigning me under the Robotics project ICRS which
consisted of three robots such as Robot Sentry, MiniUGV, Ballbot .It was a new and promising start .The
scope of the project was unimaginable and was indeed an ideal platform for me as a student with profound
interest in robotics. My initial days started off with theoretical lessons to strengthen my basics in robotics
and to learn more about the essentials of both hardware and software in a Robotics project. The
configuration, assembling and troubleshooting experiences helped me get a basic idea of the different stages
in the project and how to handle them. The later part of the week gave me confidence to start working on
ROS platform and SLAM algorithms. The subsequent weeks promised me to gain more knowledge related to
this field assisting me to create my own standalone projects helping me in my future endeavors.

Beginning of the second week was promising as I had learnt Linux Ubuntu OS and its commands and had a
basic understanding of ROS platform from week one. The activities and knowledge which I was able to gain
from interacting with various members of the project ensured that I can begin to work on my alone in the
tasks assigned to me. As promised it was very educative and interesting as I got the opportunity to execute
what I learnt in the first week. Initially in week one with less knowledge about Linux and ROS, in week two I
became confident after my first task of working with Stereo ZED camera for robotic mapping, navigation and
localization that I can proceed further with less hesitation with more certainty in this field. The first camera
feed I received was a delight as it was a small success that I could savor upon after my hardwork.The interest
in robotics and ROS did don’t stop me from staying back after working hours just to learn few more things
related to robotics.

The third week marks the stage of my internship where my confidence level soared as I worked on my task
in depth prior to the learnings of my initial weeks of training. The end of week 2 was progressive after facing
a lot of errors and struggles in obtaining feed from the ZED camera whereas the third week was more
towards the mathematical side of the task. The major goal of the week was to implement SLAM
(Simultaneous localization and mapping) based algorithm to the ZED camera so that the camera when
mounted on a vehicle can be used to map the surrounding with depth and feature extraction capabilities
and to readily localize its position with respect to its surroundings.

The third week triggered and induced a lot a mathematical skill to understand the algorithms for SLAM. The
3D mapping and position tracking results were good but my thirst for a more precise and satisfactory feed
still needs to be quenched as it will be my major focus in the later week. The technical advice to never stick
or make quick conclusions in any project was an eye-opener and ensured that I always should make a full
survey and analysis of all the availabilities in the market before making any conclusions for my project. The
SLAM implementation was interesting to view and study. I concluded my tack by doing SLAM in RTABMAP
using Stereo ZED camera for 3D mapping and navigation in unknown environment. The final week of the
internship instigated my interest in obtaining knowledge and working on other SLAM algorithms and
identifying the differences between each one so that I get a pan view of all the available algorithms present
for mapping and navigation in robotics. On the whole the internship gave me a sense of responsibility to
undertake projects in robotics and effectively complete them and further kindled my interest in robotics and
AI and to pursue my career in this field.

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 4. INTERNSHIP CERTIFICATE

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5. PROJECT WORK

TASK: Perform and implement SLAM algorithm for autonomous robotic mapping, navigation and
localization using Stereo ZED camera in ROS platform

6. ANALYSIS OF PROJECT STATEMENT:

The given task was in sight of the emerging trends in robotics and artificial intelligence. Owing to rapid
technological advancements the field of robotics has improved vastly and autonomous unmanned
navigation and mapping of robots using ROS and SLAM algorithms has become a prime problem to be solved.
This was my view on the given task statement enabling me to work forward with a clear mind about the
project.

6.1 ROS – ROBOTIC OPERATING SYSTEM:

The Robot Operating System (ROS) is a flexible framework for writing robot software. It is
a collection of tools, libraries, and conventions that aim to simplify the task of creating
complex and robust robot behavior across a wide variety of robotic platforms.

6.2 SLAM – SIMULTANEOUS LOCALIZATION AND MAPPING:

Simultaneous Localization and Mapping (SLAM) as I learnt is an expected outcome from various algorithms
for building a map and navigating in an unknown environment and tracking the robot’s location with respect
to its surroundings at the same time.

6.3 ZED STEREO CAMERA:

The ZED stereo camera is passive depth camera consisting of two
RGB-cameras spaced from each other (the distance between the
cameras 12 cm). It is a small and lightweight camera with size and
weight are comparable to Xtion camera. It has mounting hole in its
center with a 1/4″ UNC thread for easy fixing onto a standard
camera tripod. The camera can be used on the drone for aerial
depth mapping or mounted on terrain vehicles. It supports OS
Windows, Linux, Jetson TK1 and Jetson TX1. Zed-camera transmits
two video streams (left and right RGB cameras) into the computer. Therefore, the performance heavily
depends on the graphics card. We used a laptop with Quadro p2000 NVidia video card, and the speed was
15 frames per second at resolution hd720 at the top of the program you can switch the resolution and frame
rate, and for resolution for the hd720 where is option 60 frames per second. The camera is quite suitable for
using in mobile robotics and interactive installations in the open air and sunlight.

Identified Features:
 Depth can be captured at longer ranges, up to 20m.
 Frame rate of depth capture can be as high as 100 FPS.
 Field of view is much larger, up to 110°.

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  The camera works indoors and outdoors, contrary to active sensors such as structured-light or time
of flight
 Using computer vision and stereo SLAM technology, the ZED also understands its position and
orientation in space, offering full 6DOF positional tracking.
 The ZED continuously scans its environment to reconstruct a 3D map of the real-world. It refines its
understanding of the world by combining new depth and position data over time.

6.4 SYSTEM SPECIFICATIONS:

Fig 1. Ubuntu 16.04 System Details Fig 2. NVidia Graphical setting details

Fig 3. ZED stereo camera Diagnostic Test details

7. STEPS UNDERTAKEN TO COMPLETE THE TASK:

 Installing Linux Ubuntu 16.04 for working on ROS platform.
 Installing ROS (Kinetic) as a framework for implementing mapping and navigation algorithms.
 Installing ZED stereo camera SDK and supporting packages with zed_ros_wrappers.
 Identifying the various SLAM algorithms and adapting the suitable one for the task.
 Building packages and installing dependencies for performing SLAM in ZED camera.
 Troubleshooting errors and providing solutions to successfully perform SLAM
 Research in obtained feed for further enhancements and improvements.
 Analysis and comparison with other available algorithms and identifying their differences
 Jotting and making a note on the limitations of the implemented SLAM algorithm.

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 8. PROBLEMS FACED:
 Initial issues to understand the actual statement and formulate step wise procedures.
 Faced multiple errors in building ROS packages and dependencies.
 Issues regarding the NVidia driver installation which lasted unsolved for a couple of days
 Prior analysis and mathematical understanding of SLAM algorithms.
 Beginning efforts required in understanding Linux Platform and its commands.
 Issues in accurate mapping and navigation using ZED stereo camera.

9. SOLUTIONS PROVIDED:
The internship tenure encouraged me to face the errors and find solutions spontaneously to solve the
problems. Errors in building the ROS packages were solved with trial and error method with reference
to multiple tutorial videos. Understanding the SLAM algorithms was possible from reading IEEE papers
related to this field enabling me to get a view on the mathematical concepts behind the algorithm.
Irrespective of working hours didn’t stop me from working late to solve the errors and obtain the best
results.

10. EXPERIENCE GAINED/ACHIEVEMENTS FROM THE TRAINING:

From the training, I acquired a number of skills and knowledge through the application of the theoretical
knowledge learnt in class into the practical operations which led to an improvement and widening of my
engineering knowledge. A list of experiences gained and achievements from the training are enlisted below,

 Exposure to the demands and challenges of the engineering workplace.

 Appreciation of the professional and therefore better work ethics.
 Improved confidence in problem-solving and troubleshooting.
 How to relate to different aspects of the project in real-life situation for better understanding.
 Opportunity to meet and work with potential employers.
 Hands on working in Linux Ubuntu platform which was enduring and interesting.
 Experience in handling project in ROS and artificial intelligence.
 Developed technical skills in implementation of SLAM algorithms for mapping and localization.
 Gained first-hand experience working as an engineering professional.
 Understanding that patience is the key in Research and Development projects
 To always recognize and list out the limitations of a project along with its benefits.
 A good engineer must have a pan view of all available technologies of that project before concluding
on a single technology.
 I learnt how to work with other engineering professionals and the value of team work in a project.
 I was able to increase my technical, interpersonal and communication skills, both oral and written.

On the whole, I had been exposed to graduate engineer’s working life filled
with research and development. Throughout my internship, I could understand more about the
definition of a good engineer and programmer and prepare myself to become responsible and
innovative in the future. Along my training period, I realize that observation is a main element to find
out the root cause of a problem. Not only for my project but daily activities too. During my project, I
cooperated and interacted with my colleagues and members to determine some of the problems.
Moreover, the project indirectly helps me to learn independently, discipline myself, be
considerate/patient, self-trust, and take initiative and the ability to solve problems.

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 My communication skills has strengthened when communicating with
others and during my training period, I have received criticism and advice from engineers and
technician when mistakes were made. However, those advices are useful guidance for me to change
myself and avoid myself making the same mistakes again. Apart from that, I had also developed my
programming skills for creating algorithms for the task. This also helped sharpen my skills in C++ since
most of the algorithms were done with C++. In sum, the activities that I had learned during the training
are very useful for me in future to face challenges in a working environment. Throughout the industrial
training, I found that several things are important such as

 CRITICAL AND ANALYTICAL THINKING

To organize our tasks and assignment, we need to analyse our problems and assignment, and to
formulate a good solution to the problem. We would have to set contingency plan for the solution, so
that we are well prepared for the unforeseeable situations.

 TIME MANAGEMENT
As overall engineer is always racing against tight timeline and packed schedule, a proper time
management will minimize facing overdue deadlines. An effective time management allows us to do
our assignment efficiently and meet our schedules. Since I had only a month of internship I had to
make proper time schedules to complete my tasks successfully and effectively.

 GOAL MANAGEMENT
Opposing to a Herculean goal seemed to be reachable at first sight, it is better to sub-divide the goals
to a few achievable tasks, so that we will be gaining more confidence by accomplishing those tasks.

 COLLEAGUE INTERACTIONS
In working environment, teamwork is vital in contributing to a strong organization. Teamwork is also
essential in reaching the goals of the organization as an entity. Thus, communicating and sharing is
much needed in the working environment. Therefore, I learnt that knowledge can also be gained by
interacting with fellow colleagues and members of the team.

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12. OBTAINED RESULTS:
ENVIRONMENTAL 3D DEPTH MAPPING USING ZED STEREO CAMERA

Fig 4. Depth mapping 1 using ZED stereo camera in ZED Fu

Fig 5. Depth mapping 2 using ZED stereo camera in ZED Fu

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 Fig 6. Raw mesh image of environment before applying textures
SLAM ALGORITHM IN RTABMAP FOR ZED STEREO CAMERA

Fig 7. SLAM algorithm implementation in RTABMAP with position tracking axis

Fig 8. SLAM algorithm implementation in RTABMAP with position tracking axis

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 Fig 9. SLAM algorithm implementation in RTABMAP with position tracking axis.

13. ADDITIONAL TASK:

OBJECT DETECTION AND CLASSIFICATION USING POINT CLOUD GENERATION
ZED STEREO CAMERA:

Fig 10. Object detection with point cloud generation technique

OBJECT DETECTION AND CLASSIFICATION USING DARKNET BY DEEP

NEURAL NETWORK FOR ZED STEREO CAMERA:

Description:
In this method we apply a single neural network to the full image. This network divides the image into regions
and predicts bounding boxes and probabilities for each region. These bounding boxes are weighted by the
predicted probabilities and trained models by DNN.

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 Fig 11. Object detection and classification with bounding boxed and probabilities

14. CONCLUSION:
On the whole the one month internship was fruitful as I end my training with a mind full of endless ideas and
skills.The internship was good to find out what my strengths and weaknesses are. This helped me to define
what skills and knowledge I have to improve in the coming time. The exposure I had during this one month
is unimaginable and greatly satisfying. Working in a research and development field has always been my
passion as it involves both creativity and analytical aspects to it. The internship at L&T Defence has given
me a taste of how it feels like to be a confident engineer in a working environment. I would like to thank
everyone at L&T Defence responsible for handing over this wonderful opportunity to me and I am indeed
grateful for it. I would like to take this opportunity to show my interest in joining L&T Defence as a graduate
engineering trainee at the earliest as I feel it would be mutually for the organization and myself in this
field.

S VARUN KUMAR
CHENNAI, INDIA
+91 9003101853

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