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jobs [2014/08/29 11:12] – [Theses and Jobs] ahaidu | jobs [2015/10/15 09:22] – [Theses and Jobs] froggy86 | ||
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- | == GPU-based Parallelization of Numerical Optimization Techniques (BA/ | ||
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- | 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. | ||
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- | Requirements: | ||
- | * Skills in numerical optimization algorithms | ||
- | * Good programming skills in Python and C/C++ | ||
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- | Contact: [[team: | ||
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- | == Online Learning of Markov Logic Networks for Natural-Language Understanding (MA)== | ||
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- | 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, | ||
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- | Requirements: | ||
- | * Experience in Machine Learning. | ||
- | * Experience with statistical relational learning (e.g. MLNs) is helpful. | ||
- | * Good programming skills in Python. | ||
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- | Contact: [[team: | ||
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- | ==HiWi-Position: | ||
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- | In the context of the European research project RoboHow.Cog [1,2] we | ||
- | 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. | ||
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- | The Institute for Artificial Intelligence is hiring a student researcher for the | ||
- | development and the integration of probabilistic methods in AI, which enable intelligent robots to understand, interpret and execute natural-language instructions from recipes from the World Wide Web. | ||
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- | This HiWi-Position can serve as a starting point for future Bachelor' | ||
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- | Tasks: | ||
- | * 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 and integrating components onto the robot platform PR2. | ||
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- | Requirements: | ||
- | * Studies in Computer Science (Bachelor' | ||
- | * Basic skills in Artificial Intelligence | ||
- | * Optional: basic skills in Probability Theory | ||
- | * Optional: basic skills in Machine Learning | ||
- | * Good programming skills in Python and Java | ||
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- | Hours: 10-20 h/week | ||
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- | Contact: [[team: | ||
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- | [1] www.robohow.eu\\ | ||
- | [2] http:// | ||
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- | == Depth-Adaptive Superpixels (BA/MA)== | ||
- | {{ : | ||
- | 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. | ||
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- | 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, ... | ||
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- | Requirements: | ||
- | * Basic knowledge of image processing | ||
- | * Good programming skills in C/C++. | ||
- | * Experience with CUDA is helpful | ||
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- | Contact: [[team: | ||
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- | == Physical Simulation of Humans (BA/MA)== | ||
- | {{ : | ||
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- | 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. | ||
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- | Requirements: | ||
- | * Good programming skills in C/C++ | ||
- | * Optional: Experience in working with physics libraries such as Bullet | ||
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- | Contact: [[team: | ||
== Kitchen Activity Games in a Realistic Robotic Simulator (BA/ | == Kitchen Activity Games in a Realistic Robotic Simulator (BA/ | ||
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Contact: [[team: | Contact: [[team: | ||
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+ | == Automated sensor calibration toolkit (BA/MA)== | ||
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+ | 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, | ||
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+ | The topic for this thesis is to develop an automated system for calibrating cameras, especially RGB-D cameras like the Kinect v2. | ||
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+ | {{ : | ||
+ | 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 | ||
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+ | Requirements: | ||
+ | * Good programming skills in Python and C/C++ | ||
+ | * ROS, OpenCV | ||
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+ | [1] http:// | ||
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+ | Contact: [[team: | ||
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+ | == On-the-fly 3D CAD model creation (MA)== | ||
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+ | 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, | ||
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+ | Requirements: | ||
+ | * Good programming skills in C/C++ | ||
+ | * strong background in computer vision | ||
+ | * ROS, OpenCV, PCL | ||
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+ | Contact: [[team: | ||
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+ | == Simulation of a robots belief state to support perception(MA) == | ||
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+ | 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, | ||
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+ | Requirements: | ||
+ | * Good programming skills in C/C++ | ||
+ | * strong background in computer vision | ||
+ | * Gazebo, OpenCV, PCL | ||
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+ | Contact: [[team: | ||
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+ | == Multi-expert segmentation of cluttered and occluded scenes == | ||
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+ | 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, | ||
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+ | Requirements: | ||
+ | * Good programming skills in C/C++ | ||
+ | * strong background in 3D vision | ||
+ | * basic knowledge of ROS, OpenCV, PCL | ||
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+ | Contact: [[team: | ||
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+ | == Robot control systems in underwater robotics == | ||
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+ | The use of robots in underwater missions shows a challenging task. The dynamic terrain and its different conditions makes it difficult for robots to perform tasks correctly. In order to accomplish tasks in a proper way, the robot control routines have to be coordinated. The topic of this thesis is to develop robot control systems for underwater robotics in an underwater mission in order to navigate and to execute tasks correctly in the terrain. | ||
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+ | Requirements: | ||
+ | * Good programming skills in C/C++ or JAVA | ||
+ | * basic knowledge of ROS, OpenCV | ||
+ | |||
+ | 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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