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If you are looking for a bachelor/ | If you are looking for a bachelor/ | ||
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== Lisp / CRAM support assistant (HiWi) == | == Lisp / CRAM support assistant (HiWi) == | ||
Technical support for the group for Lisp and the CRAM framework. \\ | Technical support for the group for Lisp and the CRAM framework. \\ | ||
- | 5 hours per week for up to 1 year (paid). | + | Ca. 10 hours per week for up to 1 year (paid). |
Requirements: | Requirements: | ||
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Contact: [[team: | Contact: [[team: | ||
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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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- | == Semantic Collision Checking for Planning Robot Manipulation Tasks == | ||
- | {{ : | ||
- | 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 ' | ||
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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: | ||
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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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