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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