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jobs [2014/05/13 09:29] – tenorthjobs [2015/03/19 12:25] – [Theses and Jobs] balintbe
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-== Depth-Adaptive Superpixels (BA/HiWi)==+== Kitchen Activity Games in a Realistic Robotic Simulator (BA/MA/HiWi)== 
 + {{ :research:gz_env1.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. {{ :research:dt_dasp.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.
  
-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: 
 +  * 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: Requirements:
-  * Basic knowledge of image processing +  * Good programming skills in C/C++ 
-  * Good programming skills in C/C++. +  * Gazebo simulator basic tutorials
-  * Experience with CUDA is helpful+
  
-Contact: [[team:jan-hendrik_worch|Jan-Hendrik Worch]]+Contact: [[team:andrei_haidu|Andrei Haidu]]
  
 +== Hand Skeleton Tracking Using Two Leap Motion Devices (BA/MA)==
 + {{ :research:leap_motion.jpg?200|}} 
  
-== Tools for knowledge acquisition from the Web (BA/MA/HiWi) ==+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.
  
-There are several options for doing a project related to the acquisition of +The tracked hand can then be used as input for the Kitchen Activity Games framework.
-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 + 
-  * Depending on the focus of the project, experience with database technology, natural-language processing or computer vision may be helpful+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. 
 + 
 +Here is a [[https://vimeo.com/104629835|video]] example of the current state of the fluid in Gazebo.  
 + 
 +Requirements: 
 +  * Good programming skills in C/C++ 
 +  * Interest in Fluid simulation 
 +  * Basic physics/rendering engine knowledge 
 +  * Gazebo simulator and Fluidix basic tutorials 
 + 
 +Contact: [[team:andrei_haidu|Andrei Haidu]] 
 + 
 + 
 +== Automated sensor calibration toolkit (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, it is important that the parameters for the cameras in use are well known. The calibration of a camera is a time consuming task, and the result depends highly on the chosen setup and the accuracy of the operator. 
 + 
 +The topic for this master thesis is to develop an automated system for calibrating cameras, especially RGB-D cameras like the Kinect v2. 
 + 
 +The system should be: 
 +  * independent of the camera type 
 +  * estimate intrinsics and extrinsics 
 +  * have depth calibration (case of RGBD) 
 +  * integrate capabilities from Halcon [1] 
 + 
 +Requirements:  
 +  * Good programming skills in Python and C/C++ 
 +  * ROS, OpenCV
  
-Contact: [[team:moritz_tenorth|Moritz Tenorth]]+[1] http://www.halcon.de/
  
 +Contact: [[team:thiemo_wiedemeyer|Thiemo Wiedemeyer]]
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