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jobs [2014/06/11 11:09] – [Theses and Jobs] jworch | jobs [2015/09/08 12:24] – [Theses and Jobs] nyga | ||
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- | == GPU-based Parallelization of Numerical Optimization Techniques | + | == Kitchen Activity Games in a Realistic Robotic Simulator |
+ | {{ : | ||
- | 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 | + | Developing new activities and improving |
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 | + | == Integrating Eye Tracking in the Kitchen Activity Games (BA/MA)== |
+ | {{ : | ||
- | Markov Logic Networks (MLNs) combine | + | Integrating |
Requirements: | Requirements: | ||
- | * Experience | + | * Good programming skills |
- | * Experience with statistical relational learning (e.g. MLNs) is helpful. | + | * Gazebo simulator basic tutorials |
- | * Good programming skills in Python. | + | |
- | Contact: [[team:daniel_nyga|Daniel Nyga]] | + | Contact: [[team:andrei_haidu|Andrei Haidu]] |
+ | == Hand Skeleton Tracking Using Two Leap Motion Devices (BA/MA)== | ||
+ | {{ : | ||
- | ==HiWi-Position: Knowledge Representation & Language Understanding for Intelligent Robots== | + | Improving the skeletal tracking offered by the [[https:// |
- | In the context of the European research project RoboHow.Cog [1,2] we | + | The tracked hand can then be used as input for the Kitchen Activity Games framework. |
- | are investigating methods for combining multimodal sources of knowledge (e.g. video, natural-language recipes or computer games), in order to enable mobile robots to autonomously acquire new high level skills like cooking meals or straightening up rooms. | + | |
- | The Institute for Artificial Intelligence is hiring a student researcher for the | + | Requirements: |
- | development and the integration | + | * Good programming skills in C/C++ |
+ | |||
+ | Contact: [[team: | ||
+ | |||
+ | == Fluid Simulation in Gazebo (BA/MA)== | ||
+ | {{ : | ||
+ | |||
+ | [[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 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). | ||
- | This HiWi-Position can serve as a starting point for future Bachelor' | + | Another topic would be the visualization of the fluid, currently is done by rendering every particle. For the rendering engine [[http:// |
- | Tasks: | + | Here is a [[https://vimeo.com/ |
- | * Implementation of an interface to the Robot Operating System (ROS). | + | |
- | * Linkage | + | |
- | * 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:// | + | |
+ | 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, | ||
- | == Depth-Adaptive Superpixels (BA/ | + | The topic for this thesis is to develop an automated system for calibrating cameras, especially |
- | {{ : | + | |
- | 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 | + | |
- | Since the current implementation | + | {{ : |
+ | 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 | ||
- | Requirements: | + | Requirements: |
- | * Basic knowledge of image processing | + | * Good programming skills in Python and C/C++ |
- | * Good programming skills in C/C++. | + | * ROS, OpenCV |
- | * Experience with CUDA is helpful | + | |
- | Contact: | + | [1] http:// |
+ | Contact: [[team: | ||
- | == Tools for knowledge acquisition from the Web (BA/MA/HiWi) == | + | == On-the-fly 3D CAD model creation |
- | There are several options | + | Create models during runtime |
- | knowledge from Web sources like online shops, repositories of object | + | |
- | recipe databases, etc. | + | |
- | Requirements: | + | Requirements: |
- | * Programing | + | * Good programming |
- | * Experience with Web languages and datamining techniques is helpful | + | * strong background in computer vision |
- | * Depending on the focus of the project, experience with database technology, natural-language processing | + | * ROS, OpenCV, PCL |
+ | |||
+ | 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 | ||
- | Contact: [[team: | + | Requirements: |
+ | * Good programming skills in C/C++ | ||
+ | * strong background in 3D vision | ||
+ | * basic knowledge of ROS, OpenCV, PCL | ||
+ | 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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