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mvpr:thesisprojects [2011/11/16 11:52]
jkamarai
mvpr:thesisprojects [2013/01/30 10:59] (current)
jkamarai [Image Alignment Using Pairwise Matching]
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 ===== Available topics ===== ===== Available topics =====
 +
 +==== Optimal Codebook for Visual Bag of Words ====
 +
 +Visual Bag-of-Words has become one of the key tools for "​google kind of" image based search. In this project you play with the existing code and data and you writen a machine learning algorithm that will iteratively or randomly generate, test and search optimal codebooks for the BoW based image matching. In particular, the codebooks based on linear filters will be considered.
 +
 +  * C/C++ and/or Matlab skills are required.
 +  * Supervisor: Prof Joni Kamarainen
 +  * Please contact the supervisor for more details.
 +
 +==== Image Alignment Using Pairwise Matching ====
 +
 +The main idea of this project is to extend our previous image alignment method using single global seed, to align images pairwise and then build a tree structure which can
 +align each image to any other image via the tree paths. For more details see our BMVC [[http://​www2.it.lut.fi/​mvpr/​data/​Lankinen-bmvc2011.pdf|paper]].
 +
 +  * C/C++ and/or Matlab skills are required.
 +  * Supervisor: Prof Joni Kamarainen
 +  * Please contact the supervisor for more details.
 +
 +==== Model Predictive Visual Servoing ====
 +
 +Visual servoing means the real-time control of robots using vision (images). Model predictive control is a modern control paradigm which uses optimization to choose optimal control decisions by predicting a future evolution of a system and optimizing a control objective for the prediction horizon. Using model predictive control with visual servoing is still in its infancy. In this project you can learn about state-of-the-art of visual control and develop the art even further. ​
 +
 +  * The thesis should review existing literature on visual servoing using model predictive control. An existing robotic system should also be developed further to perform model predictive visual servoing.
 +  * The implementation can be done on MVPR's MELFA robot arm.
 +  * C++ skills required. Matlab skills might be useful in prototyping.
 +  * Supervisor: Prof Ville Kyrki
 +
 +==== Learning Grasp Affordances from Vision ====
 +To grasp an object, a robot needs to know where to place its fingers. The set of good finger placements for a particular object are called grasp affordances. Determining grasp affordances from visual input for unknown objects has gained much interest in robotics research community recently, as this would allow robots to operate in normal household environments. ​
 +  * The thesis should review the recent work on learning grasp affordances from vision and implement an example system using a state-of-the-art approach.
 +  * The implementation can be done on MVPR's MELFA robot arm, Weiss robotics/​Schunk gripper, and Kinect sensor.
 +  * C++ and/or Matlab skills are required.
 +  * Supervisor: Prof Ville Kyrki
 +  * Please contact the supervisor for more details.
  
 ==== 3D Interest Points from Stereo Images ==== ==== 3D Interest Points from Stereo Images ====