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Title: C++ Library for accurate marker location based on subsequent pnp refinements
Description: 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
  

Tutor: MatteoMatteucci
Additional Info: CFU 5 - 10 / Bachelor of Science, Master of Science / Thesis, Course

Title: Ackerman vehicle autonomous drive
Description: Development of an autonomous drive system for an Ackerman vehicle with the use of Move base ROS package
Tutor: MatteoMatteucci
Additional Info: CFU / Master of Science

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Title: Adaptive Behaviors for Robogames
Description: 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
Tutor: EwertonLopes
Additional Info: CFU / Master of Science / Thesis

Title: Adaptive Predicates
Description: Adapting predicates to the robot needs
Tutor: AndreaBonarini
Additional Info: CFU / Bachelor of Science / Thesis

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Title: Affective Robot force sensor
Description: Implementation of a new force sensor for the robot used in affective rehabilitation
Tutor: SimoneTognetti, MaurizioGarbarino
Additional Info: CFU / Master of Science / Course