Technische Fakult at AG Technische Informatik fileHardware engineering Arti cial neural networks....
Transcript of Technische Fakult at AG Technische Informatik fileHardware engineering Arti cial neural networks....
Technische Fakultat AG Technische Informatik
Technische FakultatAG Technische Informatik
Dario Differt
April 19, 2017
Technische Fakultat AG Technische InformatikIntroduction
Introduction
Fields of Research
• Biorobotics
• Cognitive robotics
• Hardware engineering
• Artificial neural networks
Technische Fakultat AG Technische InformatikIntroduction
Introduction
Fields of Research
• Biorobotics
• Cognitive robotics
• Hardware engineering
• Artificial neural networks
Technische Fakultat AG Technische InformatikIntroduction
Introduction
Fields of Research
• Biorobotics
• Cognitive robotics
• Hardware engineering
• Artificial neural networks
Technische Fakultat AG Technische InformatikIntroduction
Introduction
Fields of Research
• Biorobotics
• Cognitive robotics
• Hardware engineering
• Artificial neural networks
Technische Fakultat AG Technische InformatikIntroduction
Introduction
Commercial Robotic Platforms
Technische Fakultat AG Technische InformatikIntroduction
Introduction
Self-Built Robotic Platforms
Technische Fakultat AG Technische InformatikIntroduction
Introduction
Robot Arm
Technische Fakultat AG Technische InformatikBachelor Thesis Subjects
Bachelor Thesis Subjects
Sensorfusion auf Basis eines Kalman-Filters fur eine IMU derzweiten Generation
• Self-stabilizing robot
• Sensor: Inertial measurement unit(gyroscopes, accelerometers)
• Goal: Sensor fusion via Kalmanfilter
⇒ Dr. Alexander Kaiser
Technische Fakultat AG Technische InformatikBachelor Thesis Subjects
Bachelor Thesis Subjects
Sensorfusion auf Basis eines Kalman-Filters fur eine IMU derzweiten Generation
• Self-stabilizing robot
• Sensor: Inertial measurement unit(gyroscopes, accelerometers)
• Goal: Sensor fusion via Kalmanfilter
⇒ Dr. Alexander Kaiser
Technische Fakultat AG Technische InformatikBachelor Thesis Subjects
Bachelor Thesis Subjects
Sensorfusion auf Basis eines Kalman-Filters fur eine IMU derzweiten Generation
• Self-stabilizing robot
• Sensor: Inertial measurement unit(gyroscopes, accelerometers)
• Goal: Sensor fusion via Kalmanfilter
⇒ Dr. Alexander Kaiser
Technische Fakultat AG Technische InformatikBachelor Thesis Subjects
Bachelor Thesis Subjects
Erweiterung von MinWarping fur verkippte Bilder
• Visual navigation via fish-eyecamera
• Internally distortion of images toestimate robot movement
• Currently limited to planarmovement
• Goal: Simulating tilt applied tothe robot; implementation in ourcurrent framework
!
⇒ Dario Differt, David Fleer, Annika Hoffmann, MichaelHorst
Technische Fakultat AG Technische InformatikBachelor Thesis Subjects
Bachelor Thesis Subjects
Erweiterung von MinWarping fur verkippte Bilder
• Visual navigation via fish-eyecamera
• Internally distortion of images toestimate robot movement
• Currently limited to planarmovement
• Goal: Simulating tilt applied tothe robot; implementation in ourcurrent framework
!
⇒ Dario Differt, David Fleer, Annika Hoffmann, MichaelHorst
Technische Fakultat AG Technische InformatikBachelor Thesis Subjects
Bachelor Thesis Subjects
Erweiterung von MinWarping fur verkippte Bilder
• Visual navigation via fish-eyecamera
• Internally distortion of images toestimate robot movement
• Currently limited to planarmovement
• Goal: Simulating tilt applied tothe robot; implementation in ourcurrent framework
!
⇒ Dario Differt, David Fleer, Annika Hoffmann, MichaelHorst
Technische Fakultat AG Technische InformatikBachelor Thesis Subjects
Bachelor Thesis Subjects
Erweiterung von MinWarping fur verkippte Bilder
• Visual navigation via fish-eyecamera
• Internally distortion of images toestimate robot movement
• Currently limited to planarmovement
• Goal: Simulating tilt applied tothe robot; implementation in ourcurrent framework
!
⇒ Dario Differt, David Fleer, Annika Hoffmann, MichaelHorst
Technische Fakultat AG Technische InformatikBachelor Thesis Subjects
Bachelor Thesis Subjects
Deep Learning zur Separation von Himmel und Boden
• Skyline segmentation via DeepNeural Networks (DNN)
• Task: Perform skylinesegmentation on RGB images
• Goal: Train DNN usingthresholded UV images as groundtruth
!
Ground truth
UV RGB
Training
⇒ Dario Differt, Dr. Alexander Kaiser
Technische Fakultat AG Technische InformatikBachelor Thesis Subjects
Bachelor Thesis Subjects
Deep Learning zur Separation von Himmel und Boden
• Skyline segmentation via DeepNeural Networks (DNN)
• Task: Perform skylinesegmentation on RGB images
• Goal: Train DNN usingthresholded UV images as groundtruth
!
Ground truth
UV RGB
Training
⇒ Dario Differt, Dr. Alexander Kaiser
Technische Fakultat AG Technische InformatikBachelor Thesis Subjects
Bachelor Thesis Subjects
Deep Learning zur Separation von Himmel und Boden
• Skyline segmentation via DeepNeural Networks (DNN)
• Task: Perform skylinesegmentation on RGB images
• Goal: Train DNN usingthresholded UV images as groundtruth
!
Ground truth
UV RGB
Training
⇒ Dario Differt, Dr. Alexander Kaiser
Technische Fakultat AG Technische InformatikBachelor Thesis Subjects
Bachelor Thesis Subjects
Implementation eines beleuchtungstolerantenAbstandsmaßes fur MinWarping
• Visual navigation via fish-eyecamera
• Sensitive to illumination changes
• Goal: Train anillumination-invariant imagedistance measure using artificialnetworks
!
⇒ Dr. Alexander Kaiser
Technische Fakultat AG Technische InformatikBachelor Thesis Subjects
Bachelor Thesis Subjects
Implementation eines beleuchtungstolerantenAbstandsmaßes fur MinWarping
• Visual navigation via fish-eyecamera
• Sensitive to illumination changes
• Goal: Train anillumination-invariant imagedistance measure using artificialnetworks
!
⇒ Dr. Alexander Kaiser
Technische Fakultat AG Technische InformatikBachelor Thesis Subjects
Bachelor Thesis Subjects
Implementation eines beleuchtungstolerantenAbstandsmaßes fur MinWarping
• Visual navigation via fish-eyecamera
• Sensitive to illumination changes
• Goal: Train anillumination-invariant imagedistance measure using artificialnetworks
!
⇒ Dr. Alexander Kaiser
Technische Fakultat AG Technische InformatikMaster Thesis Subjects
Master Thesis Subjects
Master Thesis Subjects
• Local Singular Value Decomposition
• Neural Gas Principal Component Analysis
• Kalman-Filter on Lie-Algebras
⇒ Dr. Alexander Kaiser, Dario Differt
Technische Fakultat AG Technische InformatikMaster Thesis Subjects
Master Thesis Subjects
Master Thesis Subjects
• Local Singular Value Decomposition
• Neural Gas Principal Component Analysis
• Kalman-Filter on Lie-Algebras
⇒ Dr. Alexander Kaiser, Dario Differt
Technische Fakultat AG Technische InformatikMaster Thesis Subjects
Master Thesis Subjects
Master Thesis Subjects
• Local Singular Value Decomposition
• Neural Gas Principal Component Analysis
• Kalman-Filter on Lie-Algebras
⇒ Dr. Alexander Kaiser, Dario Differt
Technische Fakultat AG Technische InformatikContact
Contact
General contact information:
Name: Technische Fakultat,AG Technische Informatik
Secretariat: D4-152Email: akaiser/ahoffmann/ddiffert/dfleer/mhorst
@ti.uni-bielefeld.deWebsite: www.ti.uni-bielefeld.de
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