Each project will have a short, medium, and ultimate goal. The ultimate goal is not expected to be finished in one summer, but we hope that the student will continue as a contributor and see it finished.
All projects will end with a demo video that will be posted on YouTube and a tutorial providing a step-by-step description of how the demo can be replicated by others.
Starting from the discussions at http://dev.pointclouds.org/issues/164, we would like to implement a file format for storing sequences of clouds. Things to have in mind:
This is tied to the previous project proposal. We need a video player for point clouds, similar to video players present in most operating systems. A complete UI and performance optimizations are required.
Not necessarily a project by itself, but can be one of the milestones for a larger project. The task is to adapt the source code for the following paper to the structures present in PCL:
Fatih Calakli and Gabriel Taubin, "SSD: Smooth Signed Distance Surface Reconstruction", Computer Graphics Forum, Vol. 30, No. 7, 2011
Implement an algorithm able to recognize human actions from pre-segmented RGB-D sequences by classifying the skeleton information provided by PCL's skeleton tracking algorithm. An example of paper that could be implemented is:
Ferda Ofli, Rizwan Chaudhry, Gregorij Kurillo, Reneé Vidal, Ruzena Bajcsy - "Sequence of the Most Informative Joints (SMIJ): A new representation for human skeletal action recognition", 2012 IEEE Computer Society Conference on Computer Vision and Pattern Recognition Workshops (CVPRW)
If time permits, this technique could be extended to be able to classify actions online, segmenting them out from a real time stream.
A very broad topic and one of the favorite subjects for PCL developers, we want to extend the functionalities of the pcl::registration module, by implementing some proven papers. One example is:
D. Huber, M. Hebert, “Fully automatic registration of multiple 3D data sets”, IVC 2003
The goal of such a tool is to allow multiple 3D views of the same object to be aligned together starting from pairwise registration and finding the best transformations to align all views with respect to the same coordinate system. Once this is done, the student will decide with the mentor on what other publications to look into until the end of the summer.
Extend the octree component to enable 3d volumetric modelling of free space and surface areas. Integration of probabilistic models in order to reflect dynamic environments.
We are looking for an expert to adapt some of our algorithms to run on a cluster. We are thinking of using technologies such as Hadoop , or any other open-source implementations of distributed computing libraries. The end result should be a cluster of machines running point cloud processing services such as large dataset registration, feature extraction, object recognition etc.
This is a rather involved project, and expertise in the field of distributed computing is necessary. We recommend to discuss with the GSoC mentors on the mailing list for a more in-depth view of our ideas.
As PCL is a research-oriented community, we are more than happy to welcome students to come up with their proposals (even contribute with implementations of their own MSc/PhD work!). Most probably there will be a mentor with high interest in your field of research.
Students may suggest their own well thought out and documented ideas, which should also have project timeline for completion. These will only be accepted if one of the mentors approves to support it. The project should use a substantial, proven technology and be of general interest. Research-based projects are accepted only if they are proven to be reasonable for the duration of Google Summer of Code 2013 program.
Do not miss your chance to work with one of the awesome mentors that we have lined up for this program! They all work or study at top institutions across the world and are top contributor for the PCL library.
Research Assistant, Katholieke Universiteit Leuven, Belgium
Research Assistant, Universita degli studi di Padova, Italy
CEO, Open Perception, Inc., USA; Founder of the Point Cloud Library (PCL)
Research Assistant, University of Southern California, USA
Research Engineer, Willow Garage, Inc., USA; Core Maintainer of the Point Cloud Library (PCL)
Marco Antonio Gutierrez
Research Assistant, University of Extremadura, Spain
Senior Research Assistant, University of Bologna, Italy
Research Assistant, Technical University Munich, Germany
Alexandru E. Ichim
Research Scientist, Open Perception, Inc.; Research Assistant, EPFL, Switzerland; Core Maintainer of the Point Cloud Library (PCL)
Research Assistant, Technical University Munich, Germany, Core Maintainer of the Point Cloud Library (PCL)