Master Thesis, 30 HP Orientation Estimation

Are you a student eager to turn your theoretical expertise into real-world impact At Saab we believe innovation accelerates when fresh perspectives meet critical missions. Your master thesis could power our next leap in robust orientation estimation for training and operational systems.

Your role

You will explore how modern computer vision and sensor fusion can deliver accurate stable and trustworthy orientation (roll pitch yaw) under demanding conditions. Working alongside experienced engineers and researchers you will prototype algorithms evaluate them on realistic datasets and translate insights into practical recommendations for deployment in training ranges and onboard platforms.

Background

Saab AB Training and Simulation delivers realistic ground combat training systems from brigade-level exercises to individual soldier training. Reliable orientation is foundational for vehicle state awareness gunnery stabilization and shooter performance evaluation. By combining cameras with inertial measurement units (IMUs) visualinertial approaches (e.g. ORBSLAM3 as a reference) can provide resilient orientation tracking even when GPS is unavailable environments are dynamic or motion is this thesis the focus is on orientation estimation; position/odometry is not the primary goal though camera-based motion estimates may be explored for analysis.

We aim to advance orientation estimation using multisensory modulese.g. stereo or monocular cameras tightly coupled with IMUsand to understand how sensor choice placement and calibration affect accuracy latency and robustness. The outcome will inform nextgeneration training analytics and operational systems where dependable orientation is missioncritical.

Description of the master thesis

Selected candidates will design implement and evaluate computer vision and sensor fusion approaches for visualinertial orientation estimation and sensor optimization.

You will:

• Integrate and adapt orientation-focused visualinertial pipelines (e.g. ORBSLAM3 as a reference) with IMUs for real-time attitude and heading

• Investigate minimal yet effective sensor configurations (mono vs. stereo FOV frame rate IMU grade) and placements

• Develop interpretable metrics and feedback relevant to marksmanship and vehicle dynamics

• Provide confidence indicators on orientation estimates for trustworthy training feedback

• Benchmark on representative datasets and where possible in lab/range settings

Example 1 Camera IMU Orientation Estimation (ORBSLAM3inspired) Build a cameraIMU pipeline that prioritizes orientation accuracy and stability under motion blur low texture and lighting variations. Use ORBSLAM3 (or similar) as a conceptual and benchmarking reference while implementing the thesis pipeline in Python or MATLAB. Key elements include:

• CameraIMU time synchronization and extrinsic calibration

• IMU bias handling and drift mitigation

• Visual orientation constraints from multi-view geometry (e.g. essential matrix for relative rotation robust feature tracking)

• Slidingwindow estimation targeting orientation states only

• Calibrated uncertainty suitable for real-time training feedback Optional: derive camera-based motion estimates for analysis but keep the primary focus on orientation not full odometry.

Example 2 IMU Complementary Sensor for Robust Heading Fuse an IMU with a complementary sensor to strengthen yaw/heading especially where visual observability is weak. Candidate modalities (choose based on environment and availability):

• Magnetometer with hard/softiron compensation and disturbance detection

• LiDAR-based scan matching for relative yaw stabilization without relying on global position

• Automotive FMCW radar (ego-rotation via scan matching or Doppler constraints) to stabilize heading Emphasize robustness to disturbances and provide confidence indicators for training feedback.

Applications will be reviewed on a rolling basis and positions may be filled before the application deadline.

Your profile

We seek students completing masters studies in Applied Physics and Electrical Engineering Systems Control and Mechatronics or Complex Adaptive Systems (or similar) with strong competence in:

• Computer vision and multi-view geometry

• Signal processing and state estimation / sensor fusion

It is a plus if you have:

• Prototyping experience in Python or MATLAB (OpenCV NumPy/SciPy MATLAB Computer Vision and Sensor Fusion Toolboxes)

• Experience with cameraIMU calibration (e.g. Kalibr) time synchronization and sensor placement

• Familiarity with ORBSLAM3 concepts and datasets as references for orientation evaluation

• Background in embedded systems constraints and real-time algorithm design

• Interest in interpretable metrics for training feedback and humanmachine interaction

Please include your university grades with your application.

We provide the mentorship tools and test environments to help you transform theory into field-ready capability. Join us to push the boundaries of robust orientation estimation for training and beyond.

This position requires passing a security vetting process in accordance with current regulations on security protection. For roles requiring security clearance additional obligations on citizenship may apply.

What you will be a part of

Explore a wealth of possibilities. Take on challenges create smart inventions and grow beyond. This is a place for curious minds brave pioneers and everyone in between. Together we achieve the extraordinary each bringing our unique perspectives. Your part matters.

Saab is a leading defence and security company with an enduring mission to help nations keep their people and society safe. Empowered by its 26100 talented people Saab constantly pushes the boundaries of technology to create a safer and more sustainable world.

Saab designs manufactures and maintains advanced systems in aeronautics weapons command and control sensors and underwater systems. Saab is headquartered in Sweden. It has major operations all over the world and is part of the domestic defence capability of several nations. Read more about ushere.

Last application day

Contact information

Oscar Gunnarsson

010-