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jobs [2014/04/15 15:48] – [Theses and Jobs] jworch | jobs [2016/03/03 07:52] – [Theses and Jobs] ahaidu | ||
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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 | + | |
Requirements: | Requirements: | ||
- | | + | * Good programming skills in C/C++ |
- | | + | * Basic physics/ |
+ | * 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 (MA)== | ||
- | Markov Logic Networks (MLNs) combine the expressive power of first-order logic and probabilistic graphical models. In the past, they have been successfully applied to the problem of semantically interpreting and completing natural-language instructions from the web. State-of-the-art learning techniques mostly operate in batch mode, i.e. all training instances need to be known in the beginning of the learning process. In context of this thesis, online learning methods for MLNs are to be investigated, | ||
- | Requirements: | ||
- | * Experience in Machine Learning. | ||
- | * Experience with statistical relational learning (e.g. MLNs) is helpful. | ||
- | * Good programming skills in Python. | ||
- | Contact: [[team: | + | == Automated sensor calibration toolkit (BA/MA)== |
+ | 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, | ||
- | ==HiWi-Position: | + | The topic for this thesis is to develop an automated system for calibrating cameras, especially RGB-D cameras like the Kinect v2. |
- | In the context of the European research project RoboHow.Cog [1,2] we | + | {{ : |
- | are investigating methods for combining multimodal sources | + | The system should: |
+ | * be independent | ||
+ | * estimate intrinsic and extrinsic parameters | ||
+ | * calibrate depth images | ||
+ | * integrate capabilities from Halcon [1] | ||
+ | * operate autonomously | ||
- | The Institute for Artificial Intelligence is hiring a student researcher for the | + | Requirements: |
- | development | + | * Good programming skills in Python |
+ | * ROS, OpenCV | ||
- | This HiWi-Position can serve as a starting point for future Bachelor' | + | [1] http://www.halcon.de/ |
- | Tasks: | + | Contact: [[team: |
- | * Implementation of an interface to the Robot Operating System (ROS). | + | |
- | * Linkage of the knowledge base to the executive of the robot. | + | |
- | * Support for the scientific staff in extending | + | |
- | Requirements: | + | == On-the-fly 3D CAD model creation |
- | * Studies in Computer Science | + | |
- | * 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 | + | 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, |
- | Contact: [[team: | + | Requirements: |
+ | * Good programming skills in C/C++ | ||
+ | * strong background in computer vision | ||
+ | * ROS, OpenCV, PCL | ||
- | [1] www.robohow.eu\\ | + | Contact: |
- | [2] http:// | + | |
- | == HiWi position: Segmentation and interpretation | + | == Simulation |
- | {{ : | + | Create a simulation environment that represents the robots current belief state and can be updated frequently. Use off-screen rendering to investigate the affordances these objects possess, in order to support segmentation, |
- | Competent object interaction requires knowledge about the structure and | + | Requirements: |
- | composition of objects. In an ongoing research project, we are investigating | + | * Good programming skills in C/C++ |
- | how part-based object models can automatically be extracted from CAD models | + | * strong background in computer vision |
- | found on the Web, e.g. on the [[http:// | + | * Gazebo, OpenCV, PCL |
- | We are looking for a student research assistant to push this topic forward. | + | Contact: [[team: |
- | In close collaboration with the researchers of the Institute for Artificial | + | |
- | Intelligence, | + | |
- | 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' | + | == Multi-expert segmentation of cluttered and occluded scenes == |
- | Master' | + | |
- | project that could be worked on as a Master' | + | |
- | Requirements: | + | 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, |
- | * Good Java programming skills | + | |
- | * Basic knowledge | + | |
- | * Experience | + | |
- | Contact: [[team: | + | Requirements: |
+ | * Good programming skills in C/C++ | ||
+ | * strong background in 3D vision | ||
+ | * basic knowledge of ROS, OpenCV, PCL | ||
- | == Depth-Adaptive Superpixels (BA/HiWi)== | + | Contact: [[team: |
- | 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. {{ : | ||
- | |||
- | 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, ... | ||
- | |||
- | 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
Contact via
Andrea Cowley
assistant to Prof. Beetz
ai-office@cs.uni-bremen.de
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