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jobs [2015/10/15 09:22] – [Theses and Jobs] froggy86jobs [2023/03/14 10:01] – [Theses and Student Jobs] danielb
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-~~NOTOC~~ + 
-=====Theses and Jobs=====+=====Open researcher positions===== 
 + 
 +We currently don't have any open positions for researchers. 
 +=====Theses and Student Jobs=====
 If you are looking for a bachelor/master thesis or a job as a student research assistant, you may find some interesting opportunities on this page. If you are looking for a bachelor/master thesis or a job as a student research assistant, you may find some interesting opportunities on this page.
  
  
 +<html><!--
 +== Physics-based grasping in VR with finger tracking(Student Job / HiWi) ==
  
-== Kitchen Activity Games in a Realistic Robotic Simulator (BA/MA/HiWi)== +Implementing physics-based grasping models in virtual environments, 
- {{ :research:gz_env1.png?200|}}  +using Manus VR.
- +
-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: Requirements:
-  * Good programming skills in C/C++ +  * Good C++ programming skills 
-  * Basic physics/rendering engine knowledge +  * Familiar with skeletal animations 
-  * Gazebo simulator basic tutorials+  * Experience with simulators/physics-/game- engines 
 +  * Familiar with Unreal Engine API 
 +  * Familiar with version-control systems (git) 
 +  * Able to work independently with minimal supervision
  
 Contact: [[team:andrei_haidu|Andrei Haidu]] Contact: [[team:andrei_haidu|Andrei Haidu]]
 +--></html>
  
-== 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.+<html><!-- 
 +== Lisp / CRAM support assistant (HiWi) == 
 + 
 +Technical support for the group for Lisp and the CRAM framework. \\ 
 +8+ hours per week for up to 1 year (paid).
  
 Requirements: Requirements:
-  * Good programming skills in C/C++ +  * Good programming skills in Common Lisp 
-  * Gazebo simulator basic tutorials+  * Basic ROS knowledge
  
-Contact: [[team:andrei_haidu|Andrei Haidu]]+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.
  
-== Hand Skeleton Tracking Using Two Leap Motion Devices (BA/MA)== +Contact: [[team:gayane_kazhoyan|Gayane Kazhoyan]] 
- {{ :research:leap_motion.jpg?200|}} +--></html>
  
-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.+<html><!-- 
 +== Mesh Editing / Mesh Segmentation/Cutting (Student Job / HiWi)== 
 + {{ :research:human_hand_cutting.png?150|}}
  
-The tracked hand can then be used as input for the Kitchen Activity Games framework.+ Editing and cutting a human mesh into different parts in Blender / Maya (or other).
  
 Requirements: Requirements:
-  * Good programming skills in C/C+++  * Good knowledge in 3D Modeling 
 +  * Familiar with Blender / Maya (or other)
  
-Contact: [[team:andrei_haidu|Andrei Haidu]]+Contact: [[team/mona_abdel-keream|Mona Abdel-Keream]] 
 +--></html>
  
-== 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.+<html><!-- 
 +== 3D Animation and Modeling (Student Job / HiWi)== 
 + {{ :research:kitchen_unreal.jpg?200|}} 
  
-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.+Developing and improving existing or new 3D (static/skeletal) 
 +models in Blender / Maya (or other). Further importing and testing the 
 +models against Unreal Engine.
  
-The computational method for the fluid simulation is SPH (Smoothed-particle Dynamics), however newer and better methods based on SPH are currently present +Bonus: Working with state of the art 3D Scanners [[https://www.goscan3d.com/|Go!SCAN]] for creating sketching new models.
-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: Requirements:
-  * Good programming skills in C/C++ +  * Experience with Blender / Maya (or other) 
-  * Interest in Fluid simulation +  * Knowledge of Unreal Engine material / lightning development 
-  * Basic physics/rendering engine knowledge +  * Familiar with version-control systems (git) 
-  * Gazebo simulator and Fluidix basic tutorials+  * Able to work independently with minimal supervision
  
 Contact: [[team:andrei_haidu|Andrei Haidu]] Contact: [[team:andrei_haidu|Andrei Haidu]]
 +--></html>
  
 +== Generating Comics about Everyday Experiences of a Robot (BA Thesis) ==
  
-== Automated sensor calibration toolkit (BA/MA)==+Summary: 
 +  * Query experience data from an existing database 
 +  * Retrieve situations of interest 
 +  * Recreate the scene in a 3D environment 
 +  * Apply a comic shader 
 +  * Find good camera position for moments of interest 
 +  * Generate a PDF summarizing the experiences as a comic strip
  
-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.+Contact: [[team:daniel_bessler|Daniel Beßler]]
  
-The topic for this thesis is to develop an automated system for calibrating cameras, especially RGB-D cameras like the Kinect v2.+== Integration of novel objects into Digital Twin Knowledge Bases (MA Thesis) ==
  
- {{ :kinect2_calibration_setup_small.jpg?200|}} +In this thesis, the goal is to make a robotic system learn new objects automatically. 
-The system should: +The system should be able to generate the necessary models required for re-detecting it again and also consult online information sources to automatically acquire knowledge about it.
-  * 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:  +The focus of the thesis would be two-fold: 
-  * Good programming skills in Python and C/C++ +  * Develop methods to automatically infer the object class of new objects. This would include perceiving it with state of the art sensors, constructing a 3d model of it and then infer the object class from online information sources. 
-  * ROS, OpenCV+  * In the second step the system should also infer factual knowledge about the object from the internet and assert it into a robotic knowledgebase. Such knowledge could for example include the category of this product, typical object properties like its weight or typical location and much more.
  
-[1] http://www.halcon.de/ 
  
-Contact: [[team:alexis_maldonado|Alexis Maldonado]] and [[team:thiemo_wiedemeyer|Thiemo Wiedemeyer]]+Requirements: 
 +  * Knowledge about sensor data processing 
 +  * Interest in model construction from sensory data 
 +  * Work with KnowRob knowledge processing framework
  
-== On-the-fly 3D CAD model creation (MA)== 
  
-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, completing it's 3D model from multiple views improving redetection. Using the robots manipulator pick up the object and complete the model by viewing it from multiple viewpoints.+Contact: [[team:patrick_mania|Patrick Mania]]
  
-Requirements:  +<html><!-- 
-  * Good programming skills in C/C++ +== Development of Modules for Robot Perception (Student Job / HiWi) == 
-  * strong background in computer vision  +In our research group, we focus on the development of modern robots that can make use of the potential of game engines. One particular research direction, is the combination of computer vision with game engines. 
-  * ROS, OpenCV, PCL+In this context, we are currently offering multiple Hiwi positions / student jobs for the following tasks: 
 +  * Software development to create Interfaces between ROS and Unreal Engine 4 (mainly C++) 
 +  * Software development for our Robot Perception framework [[http://robosherlock.org/|RoboSherlock]] which contains many algorithms for computer vision problems (mainly C++)
  
-Contact: [[team:thiemo_wiedemeyer|Thiemo Wiedemeyer]]+Requirements: 
 +  * Experience in C++. 
 +  * Basic understanding of the ROS middleware and Linux. 
 +The spoken language in this job is german or english, based on your preference.
  
-== Simulation of a robots belief state to support perception(MA) ==+Contact: [[team:patrick_mania|Patrick Mania]] 
 +--></html>
  
-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, detection and tracking of these in the real world. +== Game Engine Developer and 3D-Modelling  (Student Job / HiWi) == 
 +A recent development in the field of AI is the usage of photorealistic simulations, for example to create Digital Twins of environments like households or  [[https://iottechnews.com/news/2021/apr/13/bentley-systems-nvidia-omniverse-create-real-time-digital-twins/|factories]]. 
 +In our research group, we focus on the development of modern robots that can make use of the potential of game engines. This requires a high degree of specialized game engine plugins that can simulate certain aspects of our research. Another important task is the creation of 3d models.
  
-Requirements:  +Therefore, we are currently offering multiple Hiwi positions / student jobs for the following tasks: 
-  * Good programming skills in C/C++ +  * Modelling of objects for the use in Unreal Engine 4. 
-  * strong background in computer vision  +  * Creation of specific simulation aspects in Unreal Engine 4. For example the development of interactable objects.
-  * Gazebo, OpenCV, PCL+
  
-Contact: [[team:ferenc_balint-benczedi|Ferenc Balint-Benczedi]] +Requirements: 
- +  * Knowledge of 3D-Modelling tools. Blender would be highly preferred. 
-== Multi-expert segmentation of cluttered and occluded scenes == +  * Experience in Game Engine development. Ideally Unreal Engine 4 and C++.
- +
-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, combining the results of multiple segmentation algorithms in order to come up with more reliable object hypotheses. +
- +
-Requirements:  +
-  * Good programming skills in C/C++ +
-  * strong background in 3D vision  +
-  * basic knowledge of ROS, OpenCV, PCL +
- +
-Contact: [[team:ferenc_balint-benczedi|Ferenc Balint-Benczedi]] +
- +
-== Robot control systems in underwater robotics == +
- +
-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.+
  
-Requirements:  +The spoken language in this job is german or english, based on your preference.
-  * Good programming skills in C/C++ or JAVA +
-  * basic knowledge of ROS, BLENDER+
  
-Contact: [[team:fereshta_yazdani|Fereshta Yazdani]]+Contact: [[team:patrick_mania|Patrick Mania]]
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