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jobs [2014/04/15 15:48] – [Theses and Jobs] jworch | jobs [2016/02/24 13:16] – gkazhoya | ||
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If you are looking for a bachelor/ | If you are looking for a bachelor/ | ||
- | == Web-based knowledge visualizations (BA/HiWi) == | + | == Lisp / CRAM support assistant (HiWi) == |
- | {{ : | + | Technical support for the group for Lisp and the CRAM framework. \\ |
- | + | 5 hours per week for up to 1 year (paid). | |
- | The knowledge base visualization allows to display semantic environment maps, | + | |
- | objects, human poses, trajectories and similar information stored in the | + | |
- | robot' | + | |
- | is written in Java and has grown old over the years. Recently, there has been | + | |
- | much progress in creating [[http:// | + | |
- | 3D visualizations]] | + | |
- | [[http:// | + | |
- | a web-based version of the visualization using these techniques. | + | |
Requirements: | Requirements: | ||
- | * Good programming skills | + | * Good programming skills |
- | * Experience with JavaScript development | + | * Basic ROS knowledge |
- | * Knowledge of Web technologies (HTML, XML, OWL) | + | |
- | Contact: [[team: | + | The student will be introduced to the CRAM framework at the beginning of the job, which is a robot programming framework written in Lisp. The student will then be responsible for assisting not familiar with the framework people, explaining them the parts they don't understand and pointing them to the relevant documentation sources. |
+ | Contact: [[team: | ||
- | == Tools for knowledge acquisition from the Web (BA/ | ||
- | There are several options for doing a project related to the acquisition of | + | == Integrating PR2 in the Unreal Game Engine Framework (BA)== |
- | knowledge from Web sources like online shops, repositories of object models, | + | {{ : |
- | recipe databases, etc. | + | |
+ | Integrating the [[https:// | ||
Requirements: | Requirements: | ||
- | * Programing | + | * Good programming |
- | * Experience with Web languages and datamining techniques is helpful | + | * Basic physics/ |
- | * Depending on the focus of the project, experience with database technology, natural-language processing or computer vision may be helpful | + | * Basic ROS knowledge |
+ | * UE4 basic tutorials | ||
- | Contact: [[team:moritz_tenorth|Moritz Tenorth]] | + | Contact: [[team:andrei_haidu|Andrei Haidu]] |
+ | == Kitchen Activity Games in a Realistic Robotic Simulator (BA/MA)== | ||
+ | {{ : | ||
- | == GPU-based Parallelization of Numerical Optimization Techniques (BA/MA/HiWi)== | + | Developing new activities and improving the current simulation framework done under the [[http://gazebosim.org/ |
- | In the field of Machine Learning, numerical optimization techniques play a focal role. However, as models grow larger, traditional implementations on single-core CPUs suffer from sequential execution causing a severe slow-down. In this thesis, state-of-the-art GPU frameworks (e.g. CUDA) are to be investigated in order implement numerical optimizers that substantially profit from parallel execution. | + | Requirements: |
+ | * Good programming skills in C/C++ | ||
+ | * Basic physics/ | ||
+ | * Gazebo simulator basic tutorials | ||
+ | |||
+ | Contact: [[team: | ||
+ | |||
+ | == Integrating Eye Tracking in the Kitchen Activity Games (BA/MA)== | ||
+ | {{ : | ||
+ | |||
+ | Integrating the eye tracker in the [[http:// | ||
Requirements: | Requirements: | ||
- | | + | * Good programming skills in C/C++ |
- | | + | * Gazebo simulator basic tutorials |
- | Contact: [[team:daniel_nyga|Daniel Nyga]] | + | Contact: [[team:andrei_haidu|Andrei Haidu]] |
- | == Online Learning of Markov Logic Networks for Natural-Language Understanding | + | == Hand Skeleton Tracking Using Two Leap Motion Devices |
+ | {{ : | ||
- | Markov Logic Networks (MLNs) combine | + | Improving the skeletal tracking offered by the [[https:// |
+ | |||
+ | The tracked hand can then be used as input for the Kitchen Activity Games framework. | ||
Requirements: | Requirements: | ||
- | | + | * Good programming skills in C/C++ |
- | * Experience with statistical relational learning (e.g. MLNs) is helpful. | + | |
- | | + | |
- | Contact: [[team:daniel_nyga|Daniel Nyga]] | + | Contact: [[team:andrei_haidu|Andrei Haidu]] |
+ | == Fluid Simulation in Gazebo (BA/MA)== | ||
+ | {{ : | ||
- | ==HiWi-Position: Knowledge Representation & Language Understanding for Intelligent Robots== | + | [[http:// |
- | In the context of the European research project RoboHow.Cog | + | Currently there is an [[http:// |
- | are investigating methods for combining multimodal sources | + | |
- | The Institute | + | The computational method |
- | development | + | and should be implemented (PCISPH/ |
- | This HiWi-Position can serve as a starting point for future Bachelor' | + | The interaction between the fluid and the rigid objects is a naive one, the forces and torques are applied only from the particle collisions (not taking into account pressure and other forces). |
- | Tasks: | + | Another topic would be the visualization |
- | * Implementation | + | |
- | * Linkage | + | Here is a [[https:// |
- | * Support for the scientific staff in extending and integrating components onto the robot platform PR2. | + | |
Requirements: | Requirements: | ||
- | * Studies in Computer Science (Bachelor' | + | * Good programming |
- | * Basic skills in Artificial Intelligence | + | * Interest |
- | * Optional: basic skills | + | * Basic physics/ |
- | * Optional: basic skills in Machine Learning | + | * Gazebo simulator |
- | * Good programming skills in Python | + | |
- | Hours: 10-20 h/week | + | Contact: [[team: |
- | Contact: [[team: | ||
- | [1] www.robohow.eu\\ | + | == Automated sensor calibration toolkit (BA/MA)== |
- | [2] http:// | + | |
- | == HiWi position: Segmentation | + | Computer vision is an important part of autonomous robots. For robots the image sensors are the main source of information of the surrounding world. Each camera is different, even if they are from the same production line. For computer vision, especially for robots manipulating their environment, |
- | {{ : | + | The topic for this thesis is to develop an automated system for calibrating cameras, especially RGB-D cameras like the Kinect v2. |
- | Competent object interaction requires knowledge about the structure | + | {{ : |
- | composition | + | The system should: |
- | how part-based object models can automatically be extracted | + | * be independent of the camera type |
- | found on the Web, e.g. on the [[http:// | + | * estimate intrinsic |
+ | * calibrate depth images (case of RGB-D) | ||
+ | * integrate capabilities | ||
+ | * operate autonomously | ||
- | We are looking for a student research assistant to push this topic forward. | + | Requirements: |
- | In close collaboration with the researchers of the Institute for Artificial | + | * Good programming skills in Python |
- | Intelligence, | + | * ROS, OpenCV |
- | 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' | + | [1] http://www.halcon.de/ |
- | Master' | + | |
- | project that could be worked on as a Master' | + | |
- | Requirements: | + | Contact: [[team: |
- | * Good Java programming skills | + | |
- | * Basic knowledge of 3D geometry calculations | + | |
- | * Experience with working with 3D models is helpful | + | |
- | Contact: [[team: | + | == On-the-fly 3D CAD model creation (MA)== |
- | == Depth-Adaptive Superpixels (BA/HiWi)== | + | 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, |
- | 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. {{ :research: | + | Requirements: |
+ | * Good programming skills in C/C++ | ||
+ | * strong background in computer vision | ||
+ | * ROS, OpenCV, PCL | ||
- | Since the current | + | Contact: [[team: |
+ | |||
+ | == Simulation of a robots belief state to support perception(MA) == | ||
+ | |||
+ | Create a simulation environment that represents | ||
+ | |||
+ | Requirements: | ||
+ | * Good programming skills in C/C++ | ||
+ | * strong background in computer vision | ||
+ | * Gazebo, OpenCV, PCL | ||
+ | |||
+ | Contact: [[team: | ||
+ | |||
+ | == Multi-expert segmentation of cluttered and occluded scenes == | ||
+ | |||
+ | 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, | ||
+ | |||
+ | Requirements: | ||
+ | * Good programming skills in C/C++ | ||
+ | * strong background in 3D vision | ||
+ | * basic knowledge of ROS, OpenCV, PCL | ||
+ | |||
+ | Contact: [[team: | ||
- | Requirements: | ||
- | * Basic knowledge of image processing | ||
- | * Good programming skills in C/C++. | ||
- | * Experience with CUDA is helpful | ||
- | Contact: [[team: |
Prof. Dr. hc. Michael Beetz PhD
Head of Institute
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ai-office@cs.uni-bremen.de
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