Student-Faculty Programs Office
Summer 2017 Announcements of Opportunity

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Project:  Underwater Robot Vision and Manipulation
Disciplines:  Computer Engineering, Computer Science
Mentor:  Renaud Detry, (JPL), Renaud.J.Detry@jpl.nasa.gov, Phone: (818) 354-1068
Mentor URL:  http://renaud-detry.net/  (opens in new window)
Background:  As part of its effort to prepare for ocean worlds, JPL is interested in the problem of underwater robot vision and robotic manipulation. We are currently investigating means of exploiting active stereo and acoustic sensors for 3D scene reconstruction, to enable mobility and eventually manipulation. Our current effort focuses on leveraging image processing to enhance stereovision, and fusing information coming from stereo with sonar data. In parallel, we are designing a 7-DoF Robosimian-inspired underwater robot arm.
Description:  The student will assist in all or a subset of the following areas, depending on skills and interests: (1) Implementing image processing algorithms for enhancing color perception and improving 3D reconstruction (see ref below) (2) Software development: rewriting research code into high-performance implementations. (3) Hardware integration: Integrating 7-dof manipulator and vision/acoustic sensors into a ROS framework (http://www.ros.org/), including transformation graph, MoveIt!, RViz. (4) Experimental design and realization: Drawing experimental protocols. Supervising robot experiments in on-lab water tank.
References:  image processing for underwater vision: Roser, Martin, Matthew Dunbabin, and Andreas Geiger. "Simultaneous underwater visibility assessment, enhancement and improved stereo." 2014 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2014.
Student Requirements:  Required: Strong software development background (C++, Python) Experience with open-source software, including GNU/Linux. Beneficial: Familiarity with http://www.ros.org/
Location / Safety:  Project building and/or room locations: . Student will need special safety training: Yes.
Programs:  This AO can be done under the following programs:

  Program    Available To
       SURF    Caltech students only 

Click on a program name for program info and application requirements.


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Problems with or questions about submitting an AO?  Call Jen Manglos of the Student-Faculty Programs Office at (626) 395-2885.
 
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