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jobs [2016/03/11 08:38] – KnowRob+MoveIt! bartelsgjobs [2017/02/02 11:46] – [Theses and Jobs] balintbe
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 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.
  
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 == Lisp / CRAM support assistant (HiWi) == == Lisp / CRAM support assistant (HiWi) ==
  
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 Contact: [[team:gayane_kazhoyan|Gayane Kazhoyan]] Contact: [[team:gayane_kazhoyan|Gayane Kazhoyan]]
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 Contact: [[team:andrei_haidu|Andrei Haidu]] Contact: [[team:andrei_haidu|Andrei Haidu]]
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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, 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. 
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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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- {{ :kinect2_calibration_setup_small.jpg?200|}} 
-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://www.halcon.de/ 
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-Contact: [[team:alexis_maldonado|Alexis Maldonado]] and [[team:thiemo_wiedemeyer|Thiemo Wiedemeyer]] 
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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, 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. 
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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:thiemo_wiedemeyer|Thiemo Wiedemeyer]] 
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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, detection and tracking of these in the real world.  
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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:ferenc_balint-benczedi|Ferenc Balint-Benczedi]] 
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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, combining the results of multiple segmentation algorithms in order to come up with more reliable object hypotheses. 
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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:ferenc_balint-benczedi|Ferenc Balint-Benczedi]] 
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-== Semantic Collision Checking for Planning Robot Manipulation Tasks == 
-{{ :research:boxy_dough_rolling.png?nolink&200|}} 
-Service robots helping humans at home shall perform manipulation tasks like wiping a table or polishing glass surfaces. To successfully complete these tasks, robots needs to establish the 'right' type of contacts between their tools and the environment while avoiding 'wrong' contact events. The choice of what constitutes a desired or undesired contact event is usually very task- and context-dependent. Unfortunately, standard robot motion planning frameworks either only search for collision-free paths or offer limited interfaces for defining desired and undesired contacts.  
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-The goal of this project is to interface existing collision checking software from MoveIt! with the robot knowledge base KnowRob to enable semantic collision checking. As a result, the student will extend the KnowRob system by a couple of predicates which employ collision checking from MoveIt! to decide whether a given world state complies with a desired contact state.  
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-Requirements:  
-  * basic knowledge of ROS 
-  * basic knowledge of robotics 
-  * interest in using KnowRob and MoveIt! 
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-Contact: [[team:georg_bartels|Georg Bartels]] 
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