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3D Scene Understanding +The proposed project aims to reconstruct the 3D structural layout of an indoor environment perceived by a mobile robot. From the sensorial data, the robot should be able to reconstruct a geometrical structure of an indoor environment (e.g., an office). Methods for indoor layout reconstruction must be significantly more tolerant to missing data than their outdoor counterparts, since environments such as offices and apartments exhibit extremely high levels of clutter, which typically results in heavy occlusions of walls and other structures of interest, large-scale artifacts, noise and missing data. The proposed work will be developed in collaboration with IRALAB, the Robotics Lab of University of Milano Bicocca. The work will be based on an existing project, Free Your Camera ( and will be part of a robotic framework based on with ROS and in development at IRALAB.


A Unifying Framework for Semantic Annotation +See
A firefox extension for semantic annotations +Aim of this project is to develop a Firefox extension, to allow a community of users to annotate resources on the Web using a shared RDF vocabulary. While browsing the Web, a user should be able to visualize the annotations relative to the page they are visiting, and to add new annotations as well.
AGW +Control system design of an electric wheelchair for autonomous drive with obstacle avoidance
AI in Racing Games +This project is focused on TORCS, a state-of-the-art open source racing simulator. From one hand, TORCS represents an ideal bechmark to study Computational Intelligence techniques. On the other hand, Computational Intelligence techniques could be used to improve the game experience in this kind of games. Several projects and theses are available on this topic, please contact us for additional information. References: *Drivatar in Forza Motorsport ( *TORCS ( *CIG@PoliMI ( *Daniele Loiacono's AI&R Lab Projects (
Accurate AR Marker Location +ARTags, QR codes, Data Matrix, are visual landmark used for augmented reality, but they could be used for robotics as well. A thesis has already been done on using data matrix for robot localization and mapping, but improvements are required in terms generality, accuracy and robustness of the solution. The goal is thuss to: *increase the number of markers supported by the system (ARTag + QR codes) *increase the accuracy of the detection and localization of the marker *test different algorithms for the solution of the perspective from n points problem '''Material:''' *papers on PnP algorithms, OpenCV, *Matlab code with three PnP algorithms implementations *C++ libraries for marker detection (to be found and evaluated) '''Expected outcome:''' *C++ library to the robust localization of artificial markers *a ROS node performing accurate ARTag localization *a comparison of Tags and algorithms in a real world scenario *The use of this library in a SLAM framework (Thesis) '''Required skills or skills to be acquired:''' *background on computer vision and image processing *C++ programming under Linux
Ackerman vehicle autonomous drive +Development of an autonomous drive system for an Ackerman vehicle with the use of Move base ROS package
Adaptive Behaviors for Robogames +The goal of the project is to develop a system to adapt behaviors of a robot to the way of playing of a human player
Adaptive Predicates +Adapting predicates to the robot needs
Affective Robot force sensor +Implementation of a new force sensor for the robot used in affective rehabilitation
Affective Robotic Rehabilitation of Upper Limbs +Evaluation of the affective status of people involved in robotic rehabilitation
Alien-Bot +The goal of the project is to develop an interactive game between an autonomous robot and a remotely-controlled one, based on the metaphor of the movie Alien.
Annotation aggregators from social applications +Annotations are metadata published about a resource, such as tags in, comments on, or twines on One of the main problems of these annotations is that they are not expressed in a standard format: thus, any tool trying to aggregate information from these sources should be able to access each one of them in a different way. The purpose of this project is to develop translation tools for different social annotation systems, collect their data in a common format (expressed using an ontology), and show them through a unique user interface, able to display different annotations (i.e. geo coordinates, dates, tags, etc.) in different ways. Moreover, tests and evaluations should be performed on this aggregator to show how efficient the queries are when performed on-the-fly or from an intermediate knowledge base.
Aperiodic visual stimulation in a VEP-based BCI +Visual-evoked potentials (VEPs) are a possible way to drive the a Brain-Computer Interface (BCI). This projects aims at maximizing the discrimination between different stimuli by using numerical codes derived from techniques of digital telecommunications. *J.R. Wolpaw et al. ''Brain-computer interfaces for communication and control'' ( *Erich E. Sutter. ''The brain response interface: communication through visually-induced electrical brain responses'' (
Autistic Children Play Robot +Within a Polisocial project we will have to implement a robot suitable to play autonomously with autistic children that will interact with it and a game system by gestures. The thesis will explore some of the aspects of the problem, eventually participating to the production of prototypes to be tested with real users. The thesis gives the possibility to develop a robot with special requirements, and to work with gesture interpretation by using devices such as Kinect or the WII Mote. The work is done in an interdisciplinary group including care givers and designers.
Automatic Content Generation in Computer Games +The generation of customized game content for each player is an attractive direction to improve the game experience in the next-generation computer games. In this scenario, Machine Learning could play an important role to provide automatically such customized game content. Several projects and theses are available on this topic, please contact us for additional information. Picture taken from ;References *Galactic Arm Race ( *TORCS ( *CIG@PoliMI ( * J. Togelius, R. De Nardi and S. Lucas. Towards automatic personalised content creation for racing games ( *Daniele Loiacono's AI&R Lab Projects (
Automatic Differentiation Techniques for Real Time Kalman Filtering +In Gauss-Newton non linear optimization one of the most tedious part is computing Jacobians. At the AIRLab we have developed a framework for non linear Simultaneous Localization and Mapping suitable for different motion models and measurement equations, but any time you need to change something you need to recompute the required Jacobian. Automatic differentiation is a tool for the automatic differentiation of source code either at compiling time or at runtime; we are interested in testing these techniques in the software we have developed and compare their performance with respect to (cumbersome) optimized computation. '''Material''' *C++ modules for Extended Kalman Filtering *libraries for automatic differentiation ( '''Expected outcome:''' New modules implementations based on automatic differentiation A comparison between the old stuff and new approach '''Required skills or skills to be acquired:''' *C++ programming under Linux
Automatic generation of domain ontologies +This thesis to be developed together with Noustat S.r.l. (see, who are developing research activities directed toward the optimization of knowledge management services, in collaboration with another company operating in this field. This project is aimed at removing the ontology building bottleneck, long and expensive activity that usually requires the direct collaboration of a domain expert. The possibility of automatic building the ontology, starting from a set of textual documents related to a specific domain, is expected to improve the ability to provide the knowledge management service, both by reducing the time-to-application, and by increasing the number of domains that can be covered. For this project, unsupervised learning methods will be applied in sequence, exploiting the topological properties of the ultra-metric spaces that emerge from the taxonomic structure of the concepts present in the texts, and associative methods will extend the concept network to lateral, non-hierarchical relationships.
Autonomous Robot for emotional interaction +Expressing emotions in interaction with children wih disabilities.


BCI & artifacts +BCI and artifacts
BCI based on Motor Imagery +This project is aimed is to control an external device through the analysis of brain waves measured on the human scalp.
BCI on Sockets +Communication on TCP/IP between BCI Software modules
Balancing Robot Development +Building a balancing robot starting from an existing hardware
Balancing robots: Tilty, TiltOne +Meta-project about balancing robots.
Ballbot +A unicycle robot, running on a ball
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