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Open Thesis Topics

Below you can find a selection of open thesis projects that the VCAI group is offering. Please reach out to Prof. Sören Pirk if you are interested in one of the topics. You can also propose your own projct.  

Robotics and Embodied AI

​AR/VR-Based Interactive World Augmentation for Robot Perception

[Type: Master Thesis, Focus: Robotics, Augmented Reality, Computer Vision, Human-Robot Interaction]

 

This project aims to develop an interactive mixed-reality system that allows a user to augment a robot’s perceived environment in real time. Using VR or AR glasses, the user can immerse themselves in the robot’s viewpoint, observe the live reconstructed environment, and place virtual objects such as obstacles, walls, or people directly into the scene. These inserted elements will then be projected back into the robot’s camera and depth perception, enabling the robot to perceive and react to a modified world. The resulting system enables applications in safe robot testing, sim-to-real transfer, teleoperation, and interactive human-in-the-loop robot training.

Automatic Robot-driven Map Generation

[Type: Master Thesis, Focus: Robotics, Machine Learning, Computer Vision]

This project aims to develop a system for automatic 3D indoor scene reconstruction using a quadruped robot equipped with onboard cameras. The robot will either autonomously or manually explore indoor environments and build compact 3D models, similar to "dollhouse views," using modern techniques such as Gaussian Splatting or Neural Radiance Fields. Key challenges include robust SLAM, trajectory planning, and real-time scene representation from egocentric visual data. The resulting system enables applications in inspection, digital twins, or VR/AR without requiring external scanning hardware.

Touch Localization for Legged Robots Using Data-Driven Methods

[Type: Bachelor or Master Thesis, Focus: Robotics, Machine Learning]

This project aims to develop a data-driven whole-body touch sensing system for a quadruped robot using only proprioceptive signals, without requiring additional sensors. Inspired by the UniTac approach (link), the system will be trained on real-world data collected by manually inducing contact at known body locations and recording joint torques and positions. A neural network will then be trained to predict the location of contact from this proprioceptive input, enabling accurate touch localization and enhancing physical human-robot interaction without modifying the robot’s hardware.

Computer Graphics and Physics-based Simulation

Interactive Computational Fluid Dynamics and Rendering

[Type: Bachelor or Master Thesis, Focus: Simulation, Computer Graphics, Machine Learning]​

 

Over the course of the last year, we developed a framework that is capable of computing and rendering fluid simulations at interactive rates on the GPU (Rust/WGPU/WGSL). The framework combines fluid dynamics with thermodynamical and chemical processes to simulate combustion and even fire extinguishing. We already published a paper at SIGGRAPH Asia based on this work (link). We enjoy working together with students to implement related concepts and prototype new ideas. Current areas of interest include, but are not limited to, the combination of a classical simulation with machine learning approaches, the implementation of state-of-the-art simulation concepts and real-time capable rendering techniques for volumetric rendering. Possible topics include concepts like: PINN, multi-grid pressure projection, voxel splatting, GPU based sorting, radiative heating, GPU based bounding volume hierarchies. We also encourage you to propose related concepts that you would be interested in.​

Randomized Look-Up Data Structures for Spatial Data

[Type: Bachelor or Master Thesis, Focus: Computer Graphics]

The goal of this project is to investigate how randomization can be used to engineer efficient data structures for queries on spatial data. Initially, a literature research should be conducted to compile an overview of what the state of the art is. Based on this, data structures that have only been proposed theoretically should be implemented or entirely new data structures should be developed and implemented. Experiments should then be conducted comparing the performance to that of conventional data structures (e. g. Kd-trees, octrees). Optionally, these newly developed data structures could make use of learned biases to make random decisions which might yield further performance improvements.

Motion Capture and Animation of Animals

[Type: Bachelor or Master Thesis, Focus: Computer Graphics]

The goal of this project is to investigate how motion capture data can be used to animate animal models such as cows, horses, or dogs. Initially, a literature review should be conducted to provide an overview of the state of the art in motion retargeting, skeletal animation, and skinning methods for articulated characters. Based on this, a pipeline should be developed that transfers mocap-driven skeletal motion to an animal model and deforms the mesh using linear blend skinning. Experiments should then be conducted to evaluate the quality and plausibility of the resulting animations, for example with respect to motion realism, and computational efficiency. Optionally, the project could be extended by investigating improved skinning approaches, automatic rigging, advanced parameterization, or motion correction techniques to better adapt the captured motion to animal-specific body proportions and joint constraints.

Exploring Population Evacuation Dynamics during extreme Coastal Flood Events

[Type: Master Thesis, Focus: Simulation, Computer Graphics]

Sea-level rise driven coastal flooding is expected to be the main source of damages related to climate change, affecting coastal communities and infrastructure. Despite the implementation of adaptation policies and measures along many of the world’s coasts, flood risk is increasing as a result of continuous coastal development; and even in those areas where extensive adaptation is undertaken, residual risk, in case of adaptation failure, can be very high. Evacuation is a non-structural measure to reduce the potential adverse impacts of extreme flooding to coastal populations and minimise loss of lives. In order to be effective and account for a range of potential outcomes, evacuation needs to be thoroughly assessed and planned. Evacuation simulation platforms and simulations of the actual flood events can support such processes and guide planning decisions. This thesis will employ results from a large number of simulations of extreme coastal flood events conducted for the wider area of Lübeck; and will use the WUI-NITY platform to simulate evacuation scenarios for Lübeck. The aim will be to explore the usefulness of these tools in emergency response planning. The work will be conducted under the supervision of Prof. Sören Pirk (Institute of Informatics) in collaboration with Prof. Athanasios Vafeidis (Institute of Geography).

Medical AI

Evaluation of Speech Quality Using Synthetic Data and Transfer Learning

[Type: Master Thesis, Focus: Medical, Machine Learning, Signal Processing]

This project explores the use of advanced AI methods for the automated assessment of speech quality in patients undergoing MR-guided Focused Ultrasound (MRgFUS) treatment. By combining synthetic data generation and transfer learning, the goal is to develop a robust and clinically applicable solution that can be integrated into existing signal-processing pipelines. The project is a collaborative effort between the chair of Digital Signal Processing and System

Theory (DSS), Visual Computing and Artificial Intelligence (VCAI), and the University Hospital Schleswig-Holstein (UKSH), bridging applied AI research and real-world clinical practice. The full thesis proposal is available here (link).

AI-based Implant Modeling

[Type: Bachelor or Master Thesis, Focus: Computer Vision, Medical, Machine Learning]

The Institute for Digital Implant Research (IDIR) is investigating how digital twins can be used to improve the development of patient-specific implants. This includes the sub-projects aneurysms, bone nails and heart valves. They all have the same approach in common: We aim to create a digital twin from real data (e.g., CT, MRI) of the patient. The optimum implant for the patient must now be determined/developed by simulation, which then only needs to be manufactured and implanted in the final step. In this context, there are always exciting questions that could be dealt with in the course of a Bachelor's or Master's thesis. If you are interested, please get in touch and we will see if we can find a suitable topic.

Bone Strength Analysis (FemoraLyze)

[Type: Bachelor or Master Thesis, Focus: Computer Vision, Medical, Machine Learning]

FemoraLyze is a modular framework for a fully-automated proximal femur analysis. Based on different segmentation masks, the framework is able to collect metrics such as cortical thickness in different bone areas, volumes, angles and distances as well as bone structure parameters. These are relevant in medical prognosis, diagnosis and therapy. In order to further increase the benefits for medical professionals, this framework is to be expanded with additional modules (e.g., finite element analysis) and modalities (e.g., MRI or clinical CT). Runtime optimization and a GUI would also be desirable.

Prediction of Bone Healing Processes using Sparse Longitudinal Data

[Type: Master Thesis, Focus: Computer Vision, Medical, Machine Learning]

The aim of this project is to investigate whether bone healing processes can be predicted on the basis of sparse longitudinal data, both in terms of overall extent and temporal resolution. To this end, a dummy CT data set must first be created, on which the various AI models will then be trained and tested.

Super-Resolution through Contrastive Alignment of Low- and High-Resolution Image Representations

[Type: Bachelor or Master Thesis, Focus: Super-Resolution, Deep Learning, Generative AI]


We are interested in exploring a CLIP-based approach to image super-resolution. The main idea is to learn a shared embedding space for paired low-resolution and high-resolution images by training separate encoders whose feature representations are aligned using a contrastive objective. Building on this shared latent space, the goal is to develop a model that reconstructs high-resolution images from the learned representation. Current areas of interest include the design of contrastive training objectives for paired image data, reconstruction from shared embedding spaces, and the comparison with established super-resolution approaches such as SRGAN, Real-ESRGAN, LDM, and ResShift. We are also interested in evaluating such methods on medical imaging data, where super-resolution may be particularly valuable for improving image quality in sensitive application domains.

Learning Artifact-Free Counterfactuals for Artifact Detection in Medical Imaging

[Type: Bachelor or Master Thesis, Focus: Diffusion Model, Deep Learning, Generative AI]


We are interested in exploring a diffusion-based approach for artifact detection in medical imaging, with a focus on CT, MRI, and ultrasound. Inspired by Synomaly Noise and Multi-Stage Diffusion (Link) , the core idea is to train a diffusion model exclusively on artifact-free medical images so that it learns the distribution of clean acquisitions. During inference, only images containing artifacts are provided to the model in order to generate counterfactual artifact-free reconstructions. By comparing the corrupted input with the reconstructed image, a residual image can be obtained in which the artifact should become visible. A natural extension of the Synomaly idea is to replace synthetic pathological anomalies during training with synthetic artifact corruptions that mimic modality-specific acquisition effects. This would allow the model to learn artifact removal in an unsupervised manner while preserving the underlying anatomy. Current areas of interest include the design of realistic artifact simulations, counterfactual reconstruction using diffusion models, and the localization and categorization of artifacts from residual maps. Possible evaluation settings include artifact detection in MRI, CT, and ultrasound, as well as comparisons across different artifact types and imaging modalities.​

Machine Learning, Generative AI, Computer Vision

Automated Soiling and Skin Condition Assessment

[Type: Master Thesis, Focus: Computer Vision, Machine Learning, Animal Science]

 

The goal of this project is to investigate how video data can be used for the automated assessment of soiling and skin condition in farm animals. Based on existing recordings, an analysis pipeline should be developed that identifies and segments relevant body regions and derives robust visual indicators for estimating the degree of soiling under realistic barn conditions. Experiments should then be conducted to evaluate the performance and robustness of the approach, for example with respect to segmentation quality, estimation accuracy, and generalizability. The project should further investigate the potential of modern vision architectures, such as foundation models and vision transformers, as well as temporal modeling across video frames for robust skin evaluation.

Mesh Generation with Transformers 

[Type: Master Thesis, Focus: Machine Learning, Computer Graphics]

The objective of this project is to investigate the potential of transformer-based models for 3D mesh generation (link). Specifically, the project explores how discrete or structured representations of meshes - such as vertices, faces, or learned latent codes - can be modeled as sequences and generated using GPT-style transformers. By encoding mesh geometry and topology into a sequence-friendly representation, the problem of mesh generation can be reframed as an autoregressive modeling task, similar to language modeling. A transformer is then trained to learn the distribution over these mesh tokens, enabling the sequential generation of new 3D meshes. This approach leverages the strong sequence modeling capabilities of transformers to capture both local geometric details and global structural consistency in meshes. The project aims to provide insights into how transformer architectures can be effectively applied to 3D geometry, advancing the state of generative modeling for mesh-based representations and enabling the synthesis of coherent and high-quality 3D shapes.

Image Generation Using GPT-Based Model and VQ-VAE

[Type: Bachelor Thesis, Focus: Machine Learning]

The objective of this project is to investigate the potential of combining a transformer-based model, such as GPT, with a Vector Quantized Variational Autoencoder (VQ-VAE) for the purpose of image generation. VQ-VAE is a type of generative model that effectively compresses images into discrete latent representations, making them suitable for sequence modeling.In this project, we explore how the discrete latent codes produced by a trained VQ-VAE can be treated similarly to tokens in a language model. By using a GPT-style transformer to model the distribution over these latent codes, we aim to generate new images in a sequential, token-by-token manner. This approach leverages the powerful generative capabilities of transformers in the domain of visual data, allowing for the creation of coherent and high-quality images. Ultimately, the project aims to provide insights into the synergy between VQ-VAE and transformer-based models, demonstrating how they can be integrated to push the boundaries of generative image modeling.

Monocular Fire Reconstruction

[Type: Master Thesis, Focus: Computer Vision, Machine Learning]

Traditional reconstructions of fire are based on a set of inward-facing cameras. The large baselines enable precise triangulation of the individual flames. This, however, comes with the main disadvantage of cost and intense calibration. For this reason, this project aims to explore the possibility of significantly reducing the amount of required cameras by introducing powerful pre-trained methods, such as monocular depth, point tracking, and diffusion-based novel-view-synthesis. While approaching the target of using only a single camera, photometric losses as well the generalization capabilities of the reconstructed model will be evaluated.

Learning based reverse engineering of 3D file formats

[Type: Bachelor or Master Thesis, Focus: Machine Learning]

This project aims to develop a neural-network architecture that receives a binary 3D file of unknown format as input and outputs a file format specification. To train this network, a method to create synthetic data should be developed. On one hand, arbitrary file format specifications can be synthesized and on the other hand 3D files can either be created procedurally or by using a dataset of 3D objects which are then augmented and converted to the previously synthesized file format specifications.

Ongoing Theses

Textual Inversion for 3D Diffusion (Master Thesis)

Supervisors: Supervisors: Prof. Dr. Sören Pirk, Ashwath Shetty

 

Modular Vision-Language Reasoning for Socially Intelligent Robotic Navigation on Boston Dynamics Spot (Master Thesis)

Supervisors: Supervisors: Prof. Dr. Sören Pirk, Samira Huber

From CT to 3D Mesh: Automated Aortic Root Segmentation for Patient-Specific Modeling in TAVR Planning (Master Thesis)

Supervisors: Supervisors: Prof. Dr. Sören Pirk, Marten Finck

Modular Vision-Language Reasoning for Socially Intelligent Robotic Navigation on Boston Dynamics Spot (Master Thesis)

Supervisors: Supervisors: Prof. Dr. Sören Pirk, Yujun Wang

Geometry-Conditioned Neural Partial Differential Operators Simulating Dynamics of Fluids (Master Thesis)

Supervisors: Supervisors: Prof. Dr. Sören Pirk, Helge Wrede

Fire-aware Robot Navigation with Imitation Learning (Master Thesis)

Supervisors: Supervisors: Prof. Dr. Sören Pirk, Anton Wagner

Automated Defect Detection in the Serial Production of Stents (Bachelor Thesis)

Supervisors: Supervisors: Prof. Dr. Sören Pirk, Marten Finck

Gesture-Recognition for Robot Navigation  (Master Thesis)

Supervisors: Supervisors: Prof. Dr. Sören Pirk, Samira Huber

Completed Theses

Fall 2025

From CT to Digital Twin: Automated Generation of Patient-Specific 3D Aortic Models for TAVI Planning (Master Thesis)

Supervisors: Supervisors: Prof. Dr. Sören Pirk, M.Sc. Marten Finck

Summer 2025

Wildfire Evacuation Planning (Master Thesis)

Supervisors: Supervisors: Prof. Dr. Athanasios Vafeidis, Prof. Dr. Sören Pirk, M.Sc. Helge Wrede

Interactive Visualization for Contour Placement in Intercranial Aneurysms (Master Thesis)

Supervisors: Prof. Dr. Sören Pirk, Prof. Dr. Sylvia Saalfeld 

Energy-based Procedural Modeling of Botanical Trees (Bachelor Thesis)

Supervisors: Supervisors: Prof. Dr. Sören Pirk, M.Sc. Nikolas Schwarz

Advanced Procedural Modeling of Leaves for Botanical Trees (Bachelor Thesis)

Supervisors: Supervisors: Prof. Dr. Sören Pirk, M.Sc. Nikolas Schwarz

Comparison of CT Segmentation Algorithms (Bachelor Thesis)

Supervisors: Supervisors: Prof. Dr. Kevin Köser, M.Sc. Silja Janßen, M. Sc. Marten Finck

Geometric Modeling of Harbor Scenes and Path Planning for Boats (Bachelor Thesis)

Supervisors: Prof. Dr. Sören Pirk, M.Sc. Nikolas Schwarz

Follow Me: Vision-Based Person Following for Autonomous Robot Navigation (Bachelor Thesis)

Supervisors: Supervisors: Prof. Dr. Sören Pirk, B.Sc. Anton Wagner

Object Search and Localization: Autonomous Detection of Target Items in Indoor Environments (Bachelor Thesis)

Supervisors: Supervisors: Prof. Dr. Sören Pirk, B.Sc. Anton Wagner

Fall 2024

Advanced Visual Augmentation of Conversations with Language-based Rasoning (Master Thesis)

Supervisors: Prof. Dr. Sören Pirk

 

Optical Music Recognition with AI (Bachelor Thesis)

Supervisors: Prof. Dr. Sören Pirk, M. Sc. Nikolas Schwarz

Automated Generation of Synthetic Data for Document Understanding Tasks (Master Thesis)

Supervisors: Prof. Dr. Sören Pirk, M. Sc. Marten Finck, M. Sc. Helge Wrede

Improving Document Image Quality Through Noise Removal: A UNet-Based Approach (Bachelor Thesis)

Supervisors: Prof. Dr. Sören Pirk, M. Sc. Marten Finck

Generierung von synthetischen Röntgenbildern der Hand mit Diffusionsmodellen und LoRA (Bachelor Thesis)

Supervisors: Prof. Dr. Sören Pirk, M. Sc. Marten Finck

Classification of binary 3D-Files (Bachelor Thesis)

Supervisors: Prof. Dr. Sören Pirk, M. Sc. Nikolas Schwarz

Conversation Amplification through Language-based Reasoning and Generative Visual Content Creation (Master Thesis)

Supervisors: Prof. Dr. Sören Pirk, Prof. Dr. Hans-Christian Jetter

Summer 2024 

GAN-based Generation of Terrain / Erosion (Bachelor Thesis)
Supervisors: Prof. Dr. Sören Pirk, M. Sc. Nikolas Schwarz, M. Sc. Sarker Miraz Mahfuz

​​

Influence of Animal Behavior on Predator Prey Systems (Bachelor Thesis)
Supervisors: Prof. Dr. Sören Pirk, M. Sc. Nikolas Schwarz, M. Sc. Sarker Miraz Mahfuz

​​

Analysis of a Evolutional Reinforcement Learning Predator Prey Simulation (Bachelor Thesis)
Supervisors: Prof. Dr. Sören Pirk, M. Sc. Sarker Miraz Mahfuz, M. Sc. Helge Wrede

​​

Automating Espresso Grinder Adjustments Using Deep Learning Techniques (Bachelor Thesis)
Supervisors: Prof. Dr. Sören Pirk, M. Sc. Nikolas Schwarz, M. Sc. Marten Finck

Training Neural Networks to Play Chess Like Games (Bachelor Thesis)
Supervisors: Prof. Dr. Sören Pirk, M. Sc. Helge Wrede, M. Sc. Sarker Miraz Mahfuz

​​​

Guiding Stable Diffusion with a 3D Editor (Bachelor Thesis)
Supervisors: Prof. Dr. Sören Pirk, M. Sc. Nikolas Schwarz

A Multi-task Downstream Task for Biomarker Identification Using Medical Chest X-ray Images (Bachelor Thesis)
Supervisors: Prof. Dr. Sören Pirk, M. Sc. Marten Finck

Anomaliedetektion mittels Machine Learning auf Geodaten für das Asset Tracking (Bachelor Thesis)

Supervisors: Prof. Dr. Sören Pirk, Dr. Lars Schwabe

Testing, Monitoring and Analysis of AI-based Chat Bots (Master Thesis)

Supervisors: Prof. Dr. Sören Pirk, Jan Monica

Fall 2023

Predicting Gaussians: 3D Scene Reconstruction using Transformers (Bachelor Thesis)

Supervisors: Prof. Dr. Sören Pirk, M. Sc. Helge Wrede​​

Kiel University
Department of Computer Science   
Visual Computing and Artificial Intelligence
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Germany

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