KIT Career ServiceStudierendeAbschlussarbeiten

Bayesian 3D Extended Object Tracking in Particle Measurement

Forschungsthema/Bereich
State estimation, 3D Reconstruction, Simulation
Typ der Abschlussarbeit
Bachelor / Master
Startzeitpunkt
-
Bewerbungsschluss
30.06.2026
Dauer der Arbeit
6 months

Beschreibung

We consider the problem of three-dimensional extended object tracking (EOT), where the main objective is to simultaneously estimate the target’s kinematic state and its spatial extent (or shape) recursively over time, using noisy position measurements obtained from the target’s surface. While EOT is well established in robotics and autonomous navigation, it also plays a pivotal role in advancing particle measurement techniques. Precise reconstruction of particulate solids’ shapes is essential, as their morphology directly determines their mechanical, thermal, and chemical behavior in various industrial processing stages. When integrated with advanced tracking algorithms capable of estimating each particle’s time-varying three-dimensional position and orientation, this approach can significantly enhance measurement accuracy across a broad spectrum of particulate applications.

At ISAS, we have developed a broad spectrum of shape approximations and their corresponding measurement models, ranging from basic, robust approximations to highly detailed, flexible reconstructions. The goal of this thesis is to find a closed, watertight 3D object with a flexible and continuously deformable surface. Such a deformation model provides a versatile representation that can smoothly transform an initial shape into a wide range of target shapes while maintaining closure and surface integrity, thereby enabling highly flexible 3D shape modeling.

The work will roughly comprise the following tasks:
● Literature research on three-dimensional modelling methods,
● Familiarization with the Julia programming language,
● Development and design of a novel algorithm,
● Implementation and integration of the methods in Julia,
● Comparison with other state-of-the-art-methods.

Voraussetzung

Voraussetzungen an Studierende
  • Strong self-motivation, reliability, and critical mind are expected.

Studiengangsbereiche
  • Ingenieurwissenschaften
    Elektrotechnik & Informationstechnik
    Geodäsie & Geoinformatik
    Informatik
    Maschinenbau
    Mechatronik & Informationstechnik
    Mobilität und Infrastruktur
    Mechanical Engineering
    Mobility Systems Engineering and Management
    Information System Engineering and Management
    Computer Science
    Electrical Engineering and Information Technology
    Mechatronics and Information Technology
    Medizintechnik
  • Naturwissenschaften und Technik
    Mathematik
    Physik
    Technomathematik
    Physics
    Wirtschaftsmathematik
  • Wirtschafts- und Rechtswissenschaften
    Wirtschaftsinformatik
    Wirtschaftsingenieurwesen


Betreuung

Titel, Vorname, Name
Jiachen Zhou
Organisationseinheit
Institut für Anthropomatik und Robotik (IAR) - Intelligent Sensor-Actuator-Systems (ISAS)
E-Mail Adresse
jiachen.zhou@kit.edu
Link zur eigenen Homepage/Personenseite
Website

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E-Mail Adresse für die Bewerbung
Senden Sie die oben genannten Bewerbungsunterlagen bitte per Mail an jiachen.zhou@kit.edu


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