KIT Career ServiceStudentsTheses

Bayesian 3D Extended Object Tracking in Particle Measurement

Research topic/area
State estimation, 3D Reconstruction, Simulation
Type of thesis
Bachelor / Master
Start time
-
Application deadline
30.11.2026
Duration of the thesis
6 months

Description

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.

Requirement

Requirements for students
  • Strong self-motivation, reliability, and critical mind are expected.

Faculty departments
  • Engineering sciences
    Electrical engineering & information technologies
    Geodesy & geoinformatics
    Informatics
    Mechanical engineering
    Mechatronics & information technologies
    Mobility and Infrastructure
    Mechanical Engineering
    Mobility Systems Engineering and Management
    Information System Engineering and Management
    Computer Science
    Electrical Engineering and Information Technology
    Mechatronics and Information Technology
    Medical technology
  • Natural sciences and Technology
    Mathematics
    Physics
    Mathematics in Technology
    Physics
    Techno-Mathe­matics
  • Economic & law sciences
    Information Engineering
    Business management


Supervision

Title, first name, last name
Jiachen Zhou
Organizational unit
Institut für Anthropomatik und Robotik (IAR) - Intelligent Sensor-Actuator-Systems (ISAS)
Email address
jiachen.zhou@kit.edu
Link to personal homepage/personal page
Website

Application via email

Application documents
  • Grade transcript
  • Certificate of enrollment

E-Mail Address for application
Senden Sie die oben genannten Bewerbungsunterlagen bitte per Mail an jiachen.zhou@kit.edu


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