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jobs [2014/04/15 15:48] – [Theses and Jobs] jworch | jobs [2015/10/15 09:22] – [Theses and Jobs] froggy86 | ||
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If you are looking for a bachelor/ | If you are looking for a bachelor/ | ||
- | == Web-based knowledge visualizations (BA/HiWi) == | ||
- | {{ : | ||
- | The knowledge base visualization allows to display semantic environment maps, | + | == Kitchen Activity Games in a Realistic Robotic Simulator (BA/MA/HiWi)== |
- | objects, human poses, trajectories and similar information stored | + | {{ :research:gz_env1.png?200|}} |
- | robot' | + | |
- | is written in Java and has grown old over the years. Recently, there has been | + | |
- | much progress in creating [[http:// | + | |
- | 3D visualizations]] for ROS that can also be accessed with a | + | |
- | [[http://www.ros.org/ | + | |
- | a web-based version of the visualization using these techniques. | + | |
- | Requirements: | + | Developing new activities and improving the current simulation framework done under the [[http:// |
- | * Good programming skills | + | |
- | * Experience with JavaScript development | + | |
- | * Knowledge of Web technologies (HTML, XML, OWL) | + | |
- | Contact: [[team: | + | Requirements: |
+ | * Good programming skills in C/C++ | ||
+ | * Basic physics/ | ||
+ | * Gazebo simulator basic tutorials | ||
+ | Contact: [[team: | ||
- | == Tools for knowledge acquisition from the Web (BA/MA/HiWi) == | + | == Integrating Eye Tracking in the Kitchen Activity Games (BA/MA)== |
+ | {{ : | ||
- | There are several options for doing a project related to the acquisition | + | Integrating |
- | knowledge from Web sources like online shops, repositories of object models, | + | |
- | recipe databases, etc. | + | |
Requirements: | Requirements: | ||
- | * Programing | + | * Good programming |
- | * Experience with Web languages and datamining techniques is helpful | + | * Gazebo simulator basic tutorials |
- | * Depending on the focus of the project, experience with database technology, natural-language processing or computer vision may be helpful | + | |
- | Contact: [[team:moritz_tenorth|Moritz Tenorth]] | + | Contact: [[team:andrei_haidu|Andrei Haidu]] |
+ | == Hand Skeleton Tracking Using Two Leap Motion Devices (BA/MA)== | ||
+ | {{ : | ||
- | == GPU-based Parallelization of Numerical Optimization Techniques (BA/MA/HiWi)== | + | Improving the skeletal tracking offered by the [[https://developer.leapmotion.com/ |
- | In the field of Machine Learning, numerical optimization techniques play a focal role. However, | + | The tracked hand can then be used as input for the Kitchen Activity Games framework. |
Requirements: | Requirements: | ||
- | | + | * Good programming skills in C/C++ |
- | | + | |
- | Contact: [[team:daniel_nyga|Daniel Nyga]] | + | Contact: [[team:andrei_haidu|Andrei Haidu]] |
- | == Online Learning of Markov Logic Networks for Natural-Language Understanding | + | == Fluid Simulation in Gazebo |
+ | {{ : | ||
- | Markov Logic Networks | + | [[http:// |
+ | |||
+ | Currently there is an [[http:// | ||
+ | |||
+ | The computational method for the fluid simulation is SPH (Smoothed-particle Dynamics), however newer and better methods based on SPH are currently present | ||
+ | and should be implemented (PCISPH/ | ||
+ | |||
+ | The interaction between | ||
+ | |||
+ | Another topic would be the visualization | ||
+ | |||
+ | Here is a [[https:// | ||
Requirements: | Requirements: | ||
- | * Experience | + | * Good programming skills |
- | * Experience with statistical relational learning (e.g. MLNs) is helpful. | + | * Interest in Fluid simulation |
- | * Good programming skills in Python. | + | * Basic physics/ |
+ | * Gazebo simulator and Fluidix basic tutorials | ||
- | Contact: [[team:daniel_nyga|Daniel Nyga]] | + | Contact: [[team:andrei_haidu|Andrei Haidu]] |
- | ==HiWi-Position: | + | == Automated sensor calibration toolkit (BA/MA)== |
- | In the context | + | Computer vision is an important part of autonomous robots. For robots the image sensors are the main source of information |
- | are investigating methods for combining multimodal sources of knowledge (e.g. video, natural-language recipes or computer | + | |
- | The Institute | + | The topic for this thesis |
- | development and the integration of probabilistic methods in AI, which enable intelligent robots to understand, interpret and execute natural-language instructions from recipes from the World Wide Web. | + | |
- | This HiWi-Position can serve as a starting point for future Bachelor' | + | {{ : |
+ | The system should: | ||
+ | * be independent of the camera type | ||
+ | * estimate intrinsic and extrinsic parameters | ||
+ | * calibrate depth images (case of RGB-D) | ||
+ | * integrate capabilities from Halcon [1] | ||
+ | * operate autonomously | ||
- | Tasks: | + | Requirements: |
- | * Implementation of an interface to the Robot Operating System (ROS). | + | * Good programming skills in Python and C/C++ |
- | * Linkage of the knowledge base to the executive of the robot. | + | * ROS, OpenCV |
- | * Support for the scientific staff in extending and integrating components onto the robot platform PR2. | + | |
- | Requirements: | + | [1] http:// |
- | * Studies in Computer Science (Bachelor' | + | |
- | * Basic skills in Artificial Intelligence | + | |
- | * Optional: basic skills in Probability Theory | + | |
- | * Optional: basic skills in Machine Learning | + | |
- | * Good programming skills in Python and Java | + | |
- | Hours: 10-20 h/week | + | Contact: [[team: |
- | Contact: [[team: | + | == On-the-fly 3D CAD model creation (MA)== |
- | [1] www.robohow.eu\\ | + | Create models during runtime for unknown textured objets based on depth and color information. Track the object and update the model with more detailed information, |
- | [2] http://www.youtube.com/ | + | |
- | == HiWi position: Segmentation and interpretation of 3D object models (HiWi/MA) == | + | Requirements: |
+ | * Good programming skills in C/C++ | ||
+ | * strong background in computer vision | ||
+ | * ROS, OpenCV, PCL | ||
- | {{ :research:cup2-segmented.png? | + | Contact: [[team:thiemo_wiedemeyer|Thiemo Wiedemeyer]] |
- | Competent object interaction requires knowledge about the structure and | + | == Simulation |
- | composition | + | |
- | how part-based object models can automatically be extracted from CAD models | + | |
- | found on the Web, e.g. on the [[http:// | + | |
- | We are looking for a student research assistant | + | Create |
- | In close collaboration with the researchers of the Institute for Artificial | + | |
- | Intelligence, the student will work on extending the software for mesh | + | |
- | segmentation, | + | |
- | methods into the robot' | + | |
- | the segmentation results. Depending on the results, cooperation on joint | + | |
- | publications may be possible. | + | |
- | This HiWi position can serve as a starting point for future Bachelor' | + | Requirements: |
- | Master' | + | * Good programming skills in C/C++ |
- | project that could be worked on as a Master' | + | * strong background in computer vision |
+ | * Gazebo, OpenCV, PCL | ||
- | Requirements: | + | Contact: [[team: |
- | * Good Java programming skills | + | |
- | * Basic knowledge of 3D geometry calculations | + | |
- | * Experience with working with 3D models is helpful | + | |
- | Contact: [[team: | + | == Multi-expert segmentation of cluttered and occluded scenes == |
- | == Depth-Adaptive Superpixels (BA/HiWi)== | + | Objects in a human environment are usually found in challenging scenes. They can be stacked upon eachother, touching or occluding, can be found in drawers, cupboards, refrigerators and so on. A personal robot assistant in order to execute a task, needs to detect these objects and recognize them. In this thesis a multi-modal approach to interpreting cluttered scenes is going to be investigated, |
- | We are currently investigating a new set of sensors (RGB-D-T), which is a combination of a kinect with a thermal image camera. Within this project we want to enhance the Depth-Adaptive Superpixels (DASP) to make use of the thermal sensor data. Depth-Adaptive Superpixels oversegment an image taking into account the depth value of each pixel. {{ : | + | Requirements: |
+ | * Good programming skills in C/C++ | ||
+ | * strong background in 3D vision | ||
+ | * basic knowledge | ||
- | Since the current implementation of DASP is not very performant for high resolution images, there are several possibilities options for doing a project in this field like reimplementing DASP using the CUDA, investigating how thermal data can be integrated, ... | + | Contact: [[team: |
- | Requirements: | + | == Robot control systems in underwater robotics == |
- | * Basic knowledge of image processing | + | |
- | * Good programming skills in C/C++. | + | The use of robots in underwater missions shows a challenging task. The dynamic terrain and its different conditions makes it difficult for robots to perform tasks correctly. In order to accomplish tasks in a proper way, the robot control routines have to be coordinated. The topic of this thesis is to develop robot control systems for underwater robotics in an underwater mission in order to navigate and to execute tasks correctly in the terrain. |
- | * Experience with CUDA is helpful | + | |
+ | Requirements: | ||
+ | * Good programming skills in C/C++ or JAVA | ||
+ | * basic knowledge of ROS, OpenCV | ||
- | Contact: [[team:jan-hendrik_worch|Jan-Hendrik Worch]] | + | Contact: [[team:fereshta_yazdani|Fereshta Yazdani]] |
Prof. Dr. hc. Michael Beetz PhD
Head of Institute
Contact via
Andrea Cowley
assistant to Prof. Beetz
ai-office@cs.uni-bremen.de
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