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~~NOTOC~~ | ~~NOTOC~~ | ||
- | =====Theses and Jobs===== | ||
- | If you are looking for a bachelor/ | ||
+ | =====Open researcher positions===== | ||
+ | {{blog>: | ||
- | == Kitchen Activity Games in a Realistic Robotic Simulator (BA/ | ||
- | {{ : | ||
- | Developing new activities and improving the current simulation framework done under the [[http://gazebosim.org/ | + | < |
+ | <div style=" | ||
+ | </html> | ||
- | Requirements: | ||
- | * Good programming skills in C/C++ | ||
- | * Basic physics/ | ||
- | * Gazebo simulator basic tutorials | ||
- | Contact: [[team: | ||
- | == Integrating Eye Tracking | + | =====Theses and Student Jobs===== |
- | {{ : | + | If you are looking for a bachelor' |
+ | |||
+ | |||
+ | < | ||
+ | == Physics-based grasping | ||
- | Integrating the eye tracker in the [[http:// | + | Implementing physics-based grasping models in virtual environments, |
+ | using Manus VR. | ||
Requirements: | Requirements: | ||
- | * Good programming skills in C/C++ | + | * Good C++ programming skills |
- | * Gazebo simulator basic tutorials | + | * Familiar with skeletal animations |
+ | * Experience with simulators/ | ||
+ | * Familiar with Unreal Engine API | ||
+ | * Familiar with version-control systems (git) | ||
+ | * Able to work independently with minimal supervision | ||
Contact: [[team: | Contact: [[team: | ||
+ | --></ | ||
- | == Hand Skeleton Tracking Using Two Leap Motion Devices (BA/MA)== | ||
- | {{ : | ||
- | Improving the skeletal tracking offered by the [[https:// | + | < |
+ | == Lisp / CRAM support assistant | ||
- | The tracked hand can then be used as input for the Kitchen Activity Games framework. | + | Technical support |
+ | 8+ hours per week for up to 1 year (paid). | ||
Requirements: | Requirements: | ||
- | * Good programming skills in C/C++ | + | * Good programming skills in Common Lisp |
+ | * Basic ROS knowledge | ||
- | Contact: [[team: | + | 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. |
- | == Fluid Simulation in Gazebo (BA/MA)== | + | Contact: [[team:gayane_kazhoyan|Gayane Kazhoyan]] |
- | | + | --></ |
- | [[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. | + | < |
+ | == Mesh Editing | ||
+ | {{ : | ||
- | Currently there is an [[http://gazebosim.org/ | + | |
+ | |||
+ | Requirements: | ||
+ | * Good knowledge | ||
+ | * Familiar with Blender / Maya (or other) | ||
+ | |||
+ | Contact: | ||
+ | --></ | ||
- | 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 | + | < |
+ | == 3D Animation | ||
+ | {{ : | ||
- | Another topic would be the visualization of the fluid, currently is done by rendering every particle. For the rendering engine [[http://www.ogre3d.org/ | + | Developing and improving existing or new 3D (static/skeletal) |
+ | models in Blender | ||
+ | models against Unreal Engine. | ||
- | Here is a [[https://vimeo.com/104629835|video]] example of the current state of the fluid in Gazebo. | + | Bonus: Working with state of the art 3D Scanners |
Requirements: | Requirements: | ||
- | * Good programming skills in C/C++ | + | * Experience with Blender |
- | * Interest in Fluid simulation | + | * Knowledge of Unreal Engine material / lightning development |
- | * Basic physics/ | + | * Familiar with version-control systems (git) |
- | * Gazebo simulator and Fluidix basic tutorials | + | * Able to work independently with minimal supervision |
Contact: [[team: | Contact: [[team: | ||
+ | --></ | ||
+ | == Scene Format Conversion Tool for Robotics Simulation (MA Thesis) == | ||
- | == Automated sensor calibration toolkit (BA/MA)== | + | **Motivation: |
- | Computer vision | + | With robotics playing a significant role in various domains, simulation |
- | The topic for this thesis is to develop an automated system for calibrating cameras, especially RGB-D cameras like the Kinect v2. | + | {{: |
- | {{ : | + | **Task Description: |
- | The system should: | + | |
- | | + | |
- | | + | |
- | * calibrate depth images (case of RGB-D) | + | |
- | | + | |
- | | + | |
- | Requirements: | + | The objective of this project is to develop a universal parser capable of converting scene descriptions between common formats. The following key steps are involved: |
- | * Good programming skills in Python and C/C++ | + | |
- | * ROS, OpenCV | + | |
- | [1] http://www.halcon.de/ | + | - Create a model to represent and store the scene graph. |
+ | - Implement import functions for the model to handle scene descriptions in any of the supported formats. | ||
+ | - Implement export functions for the model to generate scene descriptions in any of the supported formats. | ||
- | Contact: [[team: | + | **Requirements:** |
- | == On-the-fly 3D CAD model creation (MA)== | + | * A strong passion for robotics. |
+ | * Dedication to the chosen topic. | ||
+ | * Eager to learn. | ||
- | 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, | + | Contact: [[team: |
- | Requirements: | + | == Generating Comics about Everyday Experiences of a Robot (BA Thesis) == |
- | * Good programming skills in C/C++ | + | |
- | * strong background in computer vision | + | |
- | * ROS, OpenCV, PCL | + | |
- | Contact: [[team: | + | 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 | ||
- | == Simulation of a robots belief state to support perception(MA) == | + | Contact: [[team: |
- | 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, | + | == Integration |
- | Requirements: | + | In this thesis, the goal is to make a robotic system learn new objects automatically. |
- | * Good programming skills in C/C++ | + | 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. |
- | * strong background in computer vision | + | |
- | * Gazebo, OpenCV, PCL | + | |
- | Contact: [[team: | + | The focus of the thesis would be twofold: |
+ | * 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. | ||
+ | * 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. | ||
- | == Multi-expert segmentation of cluttered and occluded scenes == | ||
- | Objects | + | Requirements: |
+ | * Knowledge about sensor data processing | ||
+ | * Interest | ||
+ | * Work with KnowRob knowledge processing framework | ||
- | 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]] | + | Contact: [[team:patrick_mania|Patrick Mania]] |
- | == Robot control systems | + | == Übersetzung einer globalen Produktklassifikation |
- | The use of robots | + | In dieser Arbeit soll die GS1 Produktklassifikation |
+ | |||
+ | Die Aufgaben dazu sind: | ||
+ | * Einarbeitung in Web Scraping und Abfrage der Daten von GS1 | ||
+ | * Einarbeitung in Owlready und Erstellen der Taxonomie | ||
+ | * Erstellung des Jupyter Notebooks mit einem Beispiel, wie andere Ontologien verbunden werden können (die Beispielontologie wird gestellt) | ||
+ | |||
+ | |||
+ | Contact: [[team: | ||
+ | |||
+ | |||
+ | < | ||
+ | == Development of Modules | ||
+ | In our research group, we focus on the development of modern | ||
+ | In this context, we are currently offering multiple Hiwi positions / student jobs for the following tasks: | ||
+ | * Software development | ||
+ | * Software development for our Robot Perception framework [[http:// | ||
+ | |||
+ | Requirements: | ||
+ | * Experience in C++. | ||
+ | * Basic understanding | ||
+ | The spoken language in this job is german or english, based on your preference. | ||
+ | |||
+ | Contact: [[team: | ||
+ | --></ | ||
+ | |||
+ | == Development of Modules | ||
+ | In our research group, we focus on the development of intelligent robots that are combining modern computer vision methods with knowledge representation. | ||
+ | We are currently offering multiple Hiwi positions / student jobs for software development | ||
+ | |||
+ | Requirements: | ||
+ | * Solid experience | ||
+ | * Basic understanding of the ROS middleware and Linux | ||
+ | * Basic understanding of computer vision methods | ||
+ | |||
+ | The spoken language in this job is german or english, based on your preference. Work can be done fully remote. | ||
+ | |||
+ | Contact: [[team: | ||
+ | -- | ||
+ | |||
+ | == Game Engine Developer and 3D-Modelling | ||
+ | A recent development in the field of AI is the usage of photorealistic simulations, | ||
+ | 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. | ||
+ | |||
+ | Therefore, we are currently offering multiple Hiwi positions / student jobs for the following | ||
+ | * Modelling of objects for the use in Unreal Engine 4. | ||
+ | * Creation of specific simulation aspects in Unreal Engine 4. For example | ||
+ | |||
+ | Requirements: | ||
+ | * Knowledge of 3D-Modelling tools. Blender would be highly preferred. | ||
+ | * Experience in Game Engine development. Ideally Unreal Engine 4 and C++. | ||
- | Requirements: | + | The spoken language |
- | * Good programming skills | + | |
- | * basic knowledge of ROS, OpenCV | + | |
- | Contact: [[team:fereshta_yazdani|Fereshta Yazdani]] | + | Contact: [[team:patrick_mania|Patrick Mania]] |
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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