The SRV Group Offers a PhD Exchange under the Program EUROWEB ERASMUS MUNDUS

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OFFER for Phd EUROWEB Exchange students :

The Systems, Robotics and Vision group (SRV) consists of mostly members of the faculty staff of the Mathematics and Computer Science Department of the UIB (University of the Balearic Islands) and several PhD students. In the last years the group has developed Image Processing and Pattern Recognition methods for specific applications in Underwater Robotics. Updated information can be accessed at: http://srv.uib.es. Concerning Robot Vision, the area in which the research proposal will be carried out, solid results have been obtained by the group related to real-time image processing and understanding algorithms for 3D pose estimation, visual robot guidance and underwater manipulation.

At present, SRV is involved in different funded projects. MERBOTS aims at progressing in the underwater intervention systems development so they can be carried out in a safer way and at a lower cost. The project is being developed under a consortium set up by the universities of Girona, Castellon and Balearic Islands.

Different Robot Vision techniques will be developed under the responsibility of the SRV, ranging from the accurate multimodal 3D reconstruction of the area under study to supervised or unsupervised target detection and tracking. Some more details about these tasks are given next.

Multimodal target detection: We aim at developing the methods necessary to locate the target of the intervention within the environment. To this end, the different sensor data modalities collected during the survey stage and later stored within the map will be analyzed. Different strategies will be considered in order to find matches between map areas and the target, what will lead to a number of potential target detections which will have to be screened in a later step. In any case, the output of these methods will allow end-users to focus their attention on a reduced number of regions of interest instead of the full environment.

Target modelling: Once the target has been detected, and in order for the intervention operation to reach the intended goal(s), appropriate models of the target must be produced from the available sensor data. Using stereo image pairs and/or laser scans, this task will develop methods for building 3D models with the accuracy required by the particular intervention operation, whichever it is. The result will be available for planning the intervention prior to the operation, to be used to track the target in the image stream and to provide the operator with additional input during the operation.

Target tracking: This task is to develop tracking methods that allow the different vehicles involved in the intervention to capture the best sensor data from the target for improved visualization and interaction through the HRI. This will be supplied by both the vehicle performing the manipulation and by an auxiliary vehicle supplying additional views for the intervention. In both cases, the target tracker is to provide feedback to the vehicle controllers to adopt the required pose and, in this way, counteract the constant motion of vehicles, so that the target appears centred in the images. Methods with different computational requirements (and output accuracy) will be developed in order to take advantage or not of the availability of a high-speed communication link between the vehicle and the surface (where powerful computers will be available), i.e. tethered and untethered platforms will be considered separately.
In order to develop part of these tasks framed in a PhD Exchange program, we offer a job position for EUROWEB applicants that want to start and develop his research career in vision for robotics, in a demanding, high technical, friendly and fellowship professional working setting, in the incomparable environment of Mallorca.

We search for motivated PhD students (novel or advanced), from the field of any engineering (preferable electrical, informatics, telecommunications or industrial), with abilities in programming (C, C++), proactive, with an opened mind and with facility and the wish to integrate and work in a highly competitive group, during 1-2 years to develop research tasks.
For further details about the job offer and how to mention it to apply for a EUROWEB grant, please contact Francisco Bonin Font (francisco.bonin@uib.es, +34 971171391). See the official web page of EUROWEB (http://www.mrtc.mdh.se/euroweb/) to see more information about the funded european program and to complete the application.

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