Thesis - Brute Force Pose Estimation

Finding the pose of objects in 2.5D images (stereo, time-of-flight) is important in many robot applications. Current systems typically uses hand crafted features or deep learning to achieve this. However, suitable handcrafted features are often object dependent (simple geometric shapes, highly irregular shapes) and have a lot of parameters which needs to be tuned, and in the case of deep learning it is usually hard to predict the performance and how to explain/improve error cases.

The goal of this thesis is to develop and evaluate an optimized GPU based brute force matcher (e.g. convolve with one template for each view angle) using 2.5D data. The developed matcher should be able to use a CAD as object model.

The work will be done in close cooperation with our Robot Guidance team, and a resulting implementation can be verified on real applications.

Prerequisites

• Image Processing
• Computer Vision & Geometry
• Programming in C++

Contact

For more information about the position, contact:

Thomas Berglund, R&D Manager, thomas.berglund@sick.se

or

Charlotte Axelsson, HR Manager, charlotte.axelsson@sick.se

Welcome with your application 14^th of October at the latest!

SICK is a world-leading supplier of sensors and sensor solutions for industrial applications. We are 11 000 employees in 50 countries and our headquarter is located in Freiburg, Germany. SICK in Linköping is an innovation center for Machine Vision and we are 80 committed employees with a big interest in image processing and visualization. For more than 35 years, our team at SICK Linköping has successfully developed and delivered software for technically leading products within the field of 2D and 3D vision, as well as system solutions for i.e. robot guidance and quality control.

At SICK in Linköping, we are very proud of being a healthy and attractive workplace. For many years, we have been elected as one of the best workplaces in Sweden according to the survey Great Place to Work, the latest award is from 2021. We work actively to reduce our climate footprint and we are active in various ways to contribute to the society and to increase diversity at our workplace.