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jobs [2014/05/13 09:29] – tenorthjobs [2014/08/29 11:12] – [Theses and Jobs] ahaidu
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-== Depth-Adaptive Superpixels (BA/HiWi)==+== Depth-Adaptive Superpixels (BA/MA)== 
 + {{ :research:dt_dasp.png?200|}} 
 +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.
  
-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:dt_dasp.png?200|}} +Since the current implementation of DASP is not very performant for high resolution images, there are several options for doing a project in this field like reimplementing DASP using CUDA, investigating how thermal data can be integrated, ...
- +
-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: Requirements:
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-== Tools for knowledge acquisition from the Web (BA/MA/HiWi) ==+== Physical Simulation of Humans (BA/MA)== 
 + {{ :research:human_model.png?200|}} 
 + 
 +For tracking people, the use of particle filters is a common approach. However, the quality of those filters heavily depends on the way particles are spread. In this thesis, a library for the physical simulation of a human model is to be implemented. 
 + 
 +Requirements: 
 +  * Good programming skills in C/C++ 
 +  * Optional: Experience in working with physics libraries such as Bullet 
 + 
 +Contact: [[team:jan-hendrik_worch|Jan-Hendrik Worch]] 
 + 
 +== Kitchen Activity Games in a Realistic Robotic Simulator (BA/MA/HiWi)== 
 + {{ :research:gz_env1.png?200|}}  
 + 
 +Developing new activities and improving the current simulation framework done under the [[http://gazebosim.org/|Gazebo]] robotic simulator. Creating a custom GUI for the game, in order to launch new scenarios, save logs etc. 
 + 
 +Requirements: 
 +  * Good programming skills in C/C++ 
 +  * Basic physics/rendering engine knowledge 
 +  * Gazebo simulator basic tutorials 
 + 
 +Contact: [[team:andrei_haidu|Andrei Haidu]] 
 + 
 +== Integrating Eye Tracking in the Kitchen Activity Games (BA/MA)== 
 + {{ :research:eye_tracker.png?200|}}  
 + 
 +Integrating the eye tracker in the [[http://gazebosim.org/|Gazebo]] based Kitchen Activity Games framework and logging the gaze of the user during the gameplay. From the information typical activities should be inferred. 
 + 
 +Requirements: 
 +  * Good programming skills in C/C++ 
 +  * Gazebo simulator basic tutorials 
 + 
 +Contact: [[team:andrei_haidu|Andrei Haidu]] 
 + 
 +== Hand Skeleton Tracking Using Two Leap Motion Devices (BA/MA)== 
 + {{ :research:leap_motion.jpg?200|}}  
 + 
 +Improving the skeletal tracking offered by the [[https://developer.leapmotion.com/|Leap Motion SDK]], by using two devices (one tracking vertically the other horizontally) and switching between them to the one that has the best current view of the hand. 
 + 
 +The tracked hand can then be used as input for the Kitchen Activity Games framework. 
 + 
 +Requirements: 
 +  * Good programming skills in C/C++ 
 + 
 +Contact: [[team:andrei_haidu|Andrei Haidu]] 
 + 
 +== Fluid Simulation in Gazebo (BA/MA)== 
 + {{ :research:fluid.png?200|}}  
 + 
 +[[http://gazebosim.org/|Gazebo]] currently only supports rigid body physics engines (ODE, Bullet etc.), however in some cases fluids are preferred in order to simulate as realistically as possible the given environment. 
 + 
 +Currently there is an [[http://gazebosim.org/tutorials?tut=fluids&cat=physics|experimental version]] of fluids  in Gazebo, using the [[http://onezero.ca/fluidix/|Fluidix]] library to run the fluids computation on the GPU. 
 + 
 +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/IISPH). 
 + 
 +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). 
 + 
 +Another topic would be the visualization of the fluid, currently is done by rendering every particle. For the rendering engine [[http://www.ogre3d.org/|OGRE]] is used.
  
-There are several options for doing a project related to the acquisition of +Here is a [[https://vimeo.com/104629835|video]] example of the current state of the fluid in Gazebo. 
-knowledge from Web sources like online shops, repositories of object models, +
-recipe databases, etc.+
  
 Requirements: Requirements:
-  * Programing skills (Java) +  * Good programming skills in C/C++ 
-  * Experience with Web languages and datamining techniques is helpful +  * Interest in Fluid simulation 
-  * Depending on the focus of the project, experience with database technology, natural-language processing or computer vision may be helpful+  * Basic physics/rendering engine knowledge 
 +  * Gazebo simulator and Fluidix basic tutorials
  
-Contact: [[team:moritz_tenorth|Moritz Tenorth]]+Contact: [[team:andrei_haidu|Andrei Haidu]]
  
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