Organizers:

Patrick Pfaff, and Wolfram Burgard
Institut für Informatik
Albert-Ludwigs-Universität Freiburg
Georges-Köhler-Allee, Geb. 079
D-79110 Freiburg
Germany

Objectives and Topics:

Whereas mobile robots act in the three-dimensional world, most of the research in the field of mobile robotics regarding models of the environment has focused on two-dimensional maps. The restriction to two-dimensional representations, however, is error-prone and has serious limitations. For example, the planning of paths may be incomplete if the three-dimensional world is mapped into two dimensions or even incorrect if some obstacles are missing in the two-dimensional description. Moreover, two-dimensional representations do not support typical tasks like searching for objects. For example, without knowledge about the three-dimensional structure of a shelf, a robot cannot plan appropriate viewpoints to find an object on the shelf. Thus, two-dimensional maps are not sufficient in situations in which robots are deployed in real-world scenarios. On the other hand, 3D-models of buildings (exterior and interior) and man-made objects are envisioned to be useful in a wide area of applications, which goes far beyond robotics, like architecture, emergency planning, interaction, and visualization. In all of these application domains, there is a need for methods that can automatically construct 3D-models.
The goal of this workshop is to establish an open forum about the recent advances in learning three-dimensional maps with mobile robots. Solicited papers are expected to come from various areas including but not limited to:

• Exploration of three-dimensional scenes
• Efficient scan alignment
• Vision
• Data reduction and approximation
• Flying vehicles
• Autonomous cars
• Search and rescue
• Outdoor robots

Program:

Time	Title	Authors	Affiliations	Abstract	Related Paper
Welcome
9:00 - 9:10	Welcome Message	Patrick Pfaff and Wolfram Burgard	University of Freiburg, Germany
Vision-Based 3D-Mapping
9:10 - 9:40	Fast 3D Maps using Stereo Vision Only	Lina Paz*, P. Pinies, J. Tardos, and Jose Neira	Universidad de Zaragoza, Spain
9:40 - 10:10	Realtime Extended 3D Reconstruction from Stereo for Navigation	Radu Bogdan Rusu*, Aravind Sundaresan, Benoit Morisset, Motilal Agrawal, Michael Beetz, and Kurt Konolige	TU Munich, Germany Artificial Intelligence Center, SRI, USA TU Munich, Germany Willow Garage, Inc., USA
10:10 - 10:40	A Self-Calibrating, Vision-Based Navigation Assistant	Olivier Koch and Seth Teller	MIT, Cambridge, USA
Detection of Dynamic Objects and Scene Interpretation in 3D-Data
11:00 - 11:30	3D Laser-Based Obstacle Detection for Autonomous Driving	Dirk Haehnel* and Sebastian Thrun	Stanford University, USA
11:30 - 12:00	A 3D Laser Scanner System for Intersection Analysis and Autonomous Driving	Thomas Wisspeintner, Francesco Maurelli, David Droeschel, Stefan May, Hartmut Surmann, Kai Pervoelz	Fraunhofer IAIS, Germany Sapienza Universita' di Roma, Italy Fraunhofer IAIS, Germany Fraunhofer IAIS, Germany
12:00 - 12:30	Extraction of Dynamic Objects from 3D Point Clouds using Multimodal Detection and Tracking	Rudolph Triebel, Luciano Spinello, and Roland Siegwart	ETH Zurich, Switzerland
12:30 - 13:00	Interpretation of Urban Scenes Based on Geometric Features	Radu Bogdan Rusu*, Zoltan Csaba Marton, Nico Blodow, Michael Beetz	TU Munich, Germany
Surface Mapping
14:00 - 14:30	3D Tracking and Mapping using Cooperative UAVs	Mitch Bryson* and Salah Sukkarieh	Australian Center for Field Robotics, USYD, Australia
14:30 - 15:00	A Bayesian Regression Approach to Terrain Modeling	C. Plagemann*, S. Mischke, K. Kersting, S. Prentice, N. Roy, and W. Burgard	University of Freiburg, Germany Fraunhofer IAIS,Germany MIT, Cambridge, USA University of Freiburg, Germany
15:00 - 15:30	Surface Reconstruction for 3D Robotic Mapping	Thomas Wiemann*, Andreas Nuechter, Kai Lingemann, Stefan Stiene, and Joachim Hertzberg	University of Osnabrueck, Germany
3D-SLAM
15:50 - 16:20	Bridging Implementation and Theory: A Clean View on Parametrisiation of States with 3-D Rotations by Defining a Encapsulation Operator	J. Kurlbaum, U. Frese, C. Hertzberg	University of Bremen, Germany
16:20 - 16:50	3D Mapping the Kvarntorp Mine: A Field Experiment for Evaluation of 3D Scan Matching Algorithms	Martin Magnusson*, Andreas Nuechter, Christopher Loerken, Achim J. Lilienthal, and Joachim Hertzberg	University of Oerebro, Sweden University of Osnabrueck, Germany University of Oerebro, Sweden University of Osnabrueck, Germany
16:50 - 17:20	3D Pose Estimation and Mapping with Time-of-Flight Cameras	Stefan May*, David Droeschel, Dirk Holz, Christoph Wiesen, and Stefan Fuchs	Fraunhofer IAIS, Germany Fraunhofer IAIS, Germany German Aerospace Center (DLR)
Farewell
17:20 - 17:30	Farewell Message and Discussion	Patrick Pfaff and Wolfram Burgard	University of Freiburg, Germany