City:  Stuttgart
Date:  Apr 12, 2024

Master Thesis - Implementation of an algorithm for RGB-based depth estimation

The Fraunhofer-Gesellschaft ( currently operates 76 institutes and research institutions throughout Germany and is the world’s leading applied research organization. Around 30 800 employees work with an annual research budget of 3.0 billion euros. 

Masterthesis – Implementation of an algorithm for RGB-based depth estimation or 3D localization for transparent and metallic objects


The Household and Assistance Robotics working group develops innovative technologies for mobile service robots that are intended to support people in their daily lives, either directly or indirectly. Our focus lies on AI-based perception algorithms for previously unseen scenes that allow the robot to flexibly perform various tasks in everyday environments. The planning and execution of movements of the actuator are also central components of our work. Exemplary applications include the disinfection of surfaces (, the transportation of goods in hospitals ( or pick-up and delivery services in nursing homes (

In many scenarios (e.g. when fetching samples in laboratories), the robot needs to locate transparent or shiny objects in the world. These objects, due to their physical properties, cannot be perceived by current visual sensors in a reliable way. One solution to this is the utilization of AI based depth computation or key point localization algorithms that utilize RGB data as well.


What you will do

The first task of this thesis is researching the field of transparent depth estimation or key point localization algorithms (e.g. ClearGrasp, KeyPose …). The most promising algorithm(s) should be implemented and tested against the requirements for our use-cases. For this, existing State-of-the-Art datasets should be utilized, as well as a small self-created one to assess the specific usability for our applications. 


What you bring to the table

  • Background in Computer Science, Software Engineering, Electrical Engineering, Mechatronics or similar 
  • Profound knowledge of Python and/or C++
  • Enthusiasm for mobile robotics
  • Independent workstyle
  • Fluent in English or German 


What you can expect

  • Insights into modern software development and AI / robotics research
  • Cutting-edge technology in the field of assistive mobile robotics
  • Hands on with our robots on our own testing fields
  • Take on responsibility and freedom to implement your own ideas
  • Participate in innovative works directly with the team
  • Work with the best students in their discipline 


We also offer the possibility of direct entry for excellent graduates.


We value and promote the diversity of our employees' skills and therefore welcome all applications - regardless of age, gender, nationality, ethnic and social origin, religion, ideology, disability, sexual orientation and identity. Severely disabled persons are given preference in the event of equal suitability. 

With its focus on developing key technologies that are vital for the future and enabling the commercial utilization of this work by business and industry, Fraunhofer plays a central role in the innovation process. As a pioneer and catalyst for groundbreaking developments and scientific excellence, Fraunhofer helps shape society now and in the future. 

If you are interested, please submit a short letter of motivation on your personal favourite topic listed above, CV, current grade transcript to

Fraunhofer Institute for Manufacturing Engineering and Automation IPA 


Requisition Number: 71271                Application Deadline:


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