@inproceedings{nematollahi25icra,
author = {Iman Nematollahi and Branton DeMoss and Akshay L Chandra and Nick Hawes and Wolfram Burgard and Ingmar Posner},
title = {LUMOS: Language-Conditioned Imitation Learning with World Models},
booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
year = 2025,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/nematollahi25icra.pdf},
address = {Atlanta, USA}
}
@article{canakci2025arxiv,
author = {Canakci, Ahmet Selim and V{\"o}disch, Niclas and Petek, K{\"u}rsat and Burgard, Wolfram and Valada, Abhinav},
title = {Label-Efficient LiDAR Panoptic Segmentation},
journal = {arXiv preprint arXiv:2503.02372},
year = 2025,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/canakci2025arxiv.pdf}
}
@article{voedisch2025arxiv,
author = {V{\"o}disch, Niclas and Cioffi, Giovanni and Cannici, Marco and Burgard, Wolfram and Scaramuzza, Davide},
title = {LiDAR Registration with Visual Foundation Models},
journal = {arXiv preprint arXiv:2502.19374},
year = 2025,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/voedisch2025arxiv.pdf}
}
@article{voedisch25ral,
author = {V{\"o}disch, Niclas and Petek, K{\"u}rsat and K{\"a}ppeler, Markus and Valada, Abhinav and Burgard, Wolfram},
title = {A Good Foundation is Worth Many Labels: Label-Efficient Panoptic Segmentation},
journal = {IEEE Robotics and Automation Letters},
volume = {10},
number = {1},
pages = {216-223},
year = 2025,
doi = {10.1109/LRA.2024.3505779},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/voedisch25ral.pdf}
}
@inproceedings{yue24iros,
author = {Yao, Yue and Yan, Shengchao and Goehring, Daniel and Burgard, Wolfram and Reichardt, Joerg},
title = {Improving Out-Of-Distribution Generalization of Trajectory Prediction for Autonomous Driving via Polynomial Representations},
booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = 2024,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/yue24iros.pdf},
address = {Abu Dhabi, UAE}
}
@article{werby24rss,
author = {Werby, Abdelrhman and Huang, Chenguang and B{\"u}schner, Martin and Valada, Abhinav and Burgard, Wolfram},
title = {Hierarchical Open-Vocabulary 3D Scene Graphs for Language-Conditioned Robot Navigation},
booktitle = {Robotics: Science and Systems (RSS)},
year = 2024,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/werby24rss.pdf},
address = {Delft, Netherlands}
}
@inproceedings{yan24iros,
author = {Yan, Shengchao and K{\"o}nig, Lukas and Burgard, Wolfram},
title = {Agent-Agnostic Centralized Training for Decentralized Multi-Agent Cooperative Driving},
booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = 2024,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/yan24iros.pdf},
address = {Abu Dhabi, UAE}
}
@inproceedings{yan24icra,
author = {Yan, Shengchao and Zhang, Baohe and Zhang, Yuan and Boedecker, Joschka and Burgard, Wolfram},
title = {Learning Continuous Control with Geometric Regularity from Robot Intrinsic Symmetry},
booktitle = {2024 IEEE International Conference on Robotics and Automation (ICRA)},
year = 2024,
doi = {10.1109/ICRA57147.2024.10610949},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/yan24icra.pdf}
}
@inproceedings{roefer24iros,
author = {R{\"o}fer, Adrian and Nematollahi, Iman and Welschehold, Tim and Burgard, Wolfram and Valada, Abhinav},
title = {Bayesian Optimization for Sample-Efficient Policy Improvement in Robotic Manipulation},
booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = 2024,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/roefer24iros.pdf},
address = {Abu Dhabi, UAE}
}
@article{petek24ral,
author = {Petek, K{\"u}rsat and V{\"o}disch, Niclas and Meyer, Johannes and Cattaneo, Daniele and Valada, Abhinav and Burgard, Wolfram},
title = {Automatic Target-Less Camera-LiDAR Calibration from Motion and Deep Point Correspondences},
journal = {IEEE Robotics and Automation Letters},
volume = {9},
number = {11},
pages = {9978-9985},
year = 2024,
doi = {10.1109/LRA.2024.3468090},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/petek24ral.pdf}
}
@inproceedings{schramm24iros,
author = {Schramm, Jonas and V{\"o}disch, Niclas and Petek, K{\"u}rsat and Burgard, Wolfram and Valada, Abhinav},
title = {BEVCar: Camera-Radar Fusion for BEV Map and Object Segmentation},
booktitle = {2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages = {1435-1442},
year = 2024,
doi = {10.1109/IROS58592.2024.10802147},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/schramm24iros.pdf}
}
@inproceedings{kaeppeler24icra,
author = {K{\"a}ppeler, Markus and Petek, K{\"u}rsat and V{\"o}disch, Niclas and Burgard, Wolfram and Valada, Abhinav},
title = {Few-Shot Panoptic Segmentation With Foundation Models},
booktitle = {2024 IEEE International Conference on Robotics and Automation (ICRA)},
pages = {7718--7724},
year = 2024,
doi = {10.1109/ICRA57147.2024.10611624},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/kaeppeler24icra.pdf}
}
@inproceedings{greve24icra,
author = {Greve, Elias and B{\"u}chner, Martin and V{\"o}disch, Niclas and Burgard, Wolfram and Valada, Abhinav},
title = {Collaborative Dynamic 3D Scene Graphs for Automated Driving},
booktitle = {2024 IEEE International Conference on Robotics and Automation (ICRA)},
pages = {11118--11124},
year = 2024,
doi = {10.1109/ICRA57147.2024.10610112},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/greve24icra.pdf}
}
@article{gomezrosal2024sensors,
author = {Fischer, Georg* and Bergau, Max* and G{\'o}mez-Rosal, Adriana* and Wachaja, Andreas and Gr{\"a}ter, Johannes and Odenweller, Matthias and Piechottka, Uwe and Hoeflinger, Fabian and Gosala, Nikhil and Wetzel, Niklas and B{\"u}scher, Daniel and Valada, Abhinav and Burgard, Wolfram},
title = {Evaluation of a Smart Mobile Robotic System for Industrial Plant Inspection and Supervision},
year = 2024,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/gomezrosal2024sensors.pdf}
}
@inproceedings{huang23iser,
author = {Huang, Chenguang and Mees, Oier and Zeng, Andy and Burgard, Wolfram},
title = {Audio Visual Language Maps for Robot Navigation},
booktitle = {2023 International Symposium on Experimental Robotics (ISER)},
pages = {105--117},
year = 2023,
doi = {https://doi.org/10.1007/978-3-031-63596-0_10},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/huang23iser.pdf}
}
@article{vodisch2023rss,
author = {V{\"o}disch, Niclas and Petek, K{\"u}rsat and Burgard, Wolfram and Valada, Abhinav},
title = {CoDEPS: Online Continual Learning for Depth Estimation and Panoptic Segmentation},
journal = {Robotics: Science and Systems (RSS)},
year = 2023,
doi = {10.15607/RSS.2023.XIX.073},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/voedisch23rss.pdf}
}
@inproceedings{voedisch23cvpr-ws,
author = {V{\"o}disch, Niclas and Cattaneo, Daniele and Burgard, Wolfram and Valada, Abhinav},
title = {CoVIO: Online Continual Learning for Visual-Inertial Odometry},
booktitle = {2023 IEEE/CVF Conference on Computer Vision and Pattern Recognition Workshops (CVPRW)},
pages = {2464--2473},
year = 2023,
doi = {10.1109/CVPRW59228.2023.00245},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/voedisch23cvpr-ws.pdf}
}
@article{arce23ral,
author = {Arce, José and V{\"o}disch, Niclas and Cattaneo, Daniele and Burgard, Wolfram and Valada, Abhinav},
title = {PADLoC: LiDAR-Based Deep Loop Closure Detection and Registration Using Panoptic Attention},
journal = {IEEE Robotics and Automation Letters},
volume = {8},
number = {3},
pages = {1319--1326},
year = 2023,
doi = {10.1109/LRA.2023.3239312},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/arce23ral.pdf}
}
@inproceedings{voedisch23isrr,
author = {V{\"o}disch, Niclas and Cattaneo, Daniele and Burgard, Wolfram and Valada, Abhinav},
title = {Continual SLAM: Beyond Lifelong Simultaneous Localization and Mapping Through Continual Learning},
booktitle = {Robotics Research},
pages = {19--35},
year = 2023,
doi = {10.1007/978-3-031-25555-7_3},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/voedisch23isrr.pdf},
address = {Cham},
editor = {Billard, Aude and Asfour, Tamim and Khatib,
Oussama},
publisher = {Springer Nature Switzerland}
}
@inproceedings{nematollahi23iser,
author = {Iman Nematollahi and Kirill Yankov and Wolfram Burgard and Tim Welschehold},
title = {Robot Skill Generalization via Keypoint Integrated Soft Actor-Critic Gaussian Mixture Models},
booktitle = {Proceedings of the International Symposium on Experimental Robotics (ISER)},
year = 2023,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/nematollahi23iser.pdf},
address = {Chiang Mai, Thailand}
}
@article{gomezrosal2023sensors,
author = {G{\'o}mez-Rosal, Adriana and Bergau, Max and Fischer, Georg and Wachaja, Andreas and Gr{\"a}ter, Johannes and Odenweller, Matthias and Piechottka, Uwe and Hoeflinger, Fabian and Gosala, Nikhil and Wetzel, Niklas and B{\"u}scher, Daniel and Valada, Abhinav and Burgard, Wolfram},
title = {A Smart Robotic System for Industrial Plant Supervision},
journal = {arXiv preprint arXiv:2308.05612},
year = 2023,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/gomezrosal2023sensors.pdf}
}
@inproceedings{nallapareddy2023evcenternet,
author = {Nallapareddy, Monish R and Sirohi, Kshitij and Drews-Jr, Paulo LJ and Burgard, Wolfram and Cheng, Chih-Hong and Valada, Abhinav},
title = {EvCenterNet: Uncertainty Estimation for Object Detection using Evidential Learning},
booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = 2023,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/nallapareddy2023evcenternet.pdf},
address = {Detroit, USA}
}
@article{sirohi2023uncertainty,
author = {Sirohi, Kshitij and Marvi, Sajad and B{\"u}scher, Daniel and Burgard, Wolfram},
title = {Uncertainty-aware panoptic segmentation},
journal = {IEEE Robotics and Automation Letters},
volume = {8},
number = {5},
pages = {2629--2636},
year = 2023,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/sirohi2023uncertainty.pdf},
publisher = {IEEE}
}
@article{gosala2023skyeye,
author = {Gosala, Nikhil* and Petek, K{\"u}rsat* and Drews-Jr, Paulo LJ and Burgard, Wolfram and Valada, Abhinav},
title = {SkyEye: Self-Supervised Bird's-Eye-View Semantic Mapping Using Monocular Frontal View Images},
journal = {arXiv preprint arXiv:2302.04233},
year = 2023,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/skyeye23cvpr.pdf}
}
@inproceedings{mees23icra,
author = {Oier Mees and Jessica Borja-Diaz and Wolfram Burgard},
title = {Grounding Language with Visual Affordances over Unstructured Data},
booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
year = 2023,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/mees23icra.pdf},
address = {London, UK}
}
@inproceedings{sirohi2023lidaruncertainty,
author = {Sirohi, Kshitij and Marvi, Sajad and B{\"u}scher, Daniel and Burgard, Wolfram},
title = {Uncertainty-aware LiDAR Panoptic Segmentation},
booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
year = 2023,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/sirohi2023lidaruncertainty.pdf},
address = {London, UK}
}
@inproceedings{huang23icra,
author = {Chenguang Huang and Oier Mees and Andy Zeng and Wolfram Burgard},
title = {Visual Language Maps for Robot Navigation},
booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
year = 2023,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/huang23icra.pdf},
address = {London, UK}
}
@inproceedings{rosete2022corl,
author = {Erick Rosete-Beas and Oier Mees and Gabriel Kalweit and Joschka Boedecker and Wolfram Burgard},
title = {Latent Plans for Task Agnostic Offline Reinforcement Learning},
booktitle = {Proceedings of the 6th Conference on Robot Learning (CoRL)},
year = 2022,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/rosete22corl.pdf},
address = {Auckland, New Zealand}
}
@inproceedings{nematollahi22iros,
author = {Iman Nematollahi and Erick Rosete-Beas and Seyed Mahdi B. Azad and Raghu Rajan and Frank Hutter and Wolfram Burgard},
title = {T3VIP: Transformation-based 3D Video Prediction},
booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = 2022,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/nematollahi22iros.pdf},
address = {Kyoto, Japan}
}
@inproceedings{dorka22icml-ws,
author = {Nicolai Dorka and Tim Welschehold and Wolfram Burgard},
title = {Dynamic Update-to-Data Ratio: Minimizing World Model Overfitting},
booktitle = {Proc.~of the Workshop on Decision Awareness in Reinforcement Learning on International Conference on Machine Learning (ICML)},
year = 2022,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/dorka22icml-ws.pdf}
}
@article{mees2022ral-b,
author = {Oier Mees and Lukas Hermann and Wolfram Burgard},
title = {What Matters in Language Conditioned Robotic Imitation Learning Over Unstructured Data},
journal = {IEEE Robotics and Automation Letters (RA-L)},
volume = {7},
number = {4},
pages = {11205--11212},
year = 2022,
doi = {10.1109/LRA.2022.3196123},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/mees22ral_b.pdf}
}
@article{mees2022ral-a,
author = {Oier Mees and Lukas Hermann and Erick Rosete-Beas and Wolfram Burgard},
title = {CALVIN: A Benchmark for Language-Conditioned Policy Learning for Long-Horizon Robot Manipulation Tasks},
journal = {IEEE Robotics and Automation Letters (RA-L)},
volume = {7},
number = {3},
pages = {7327--7334},
year = 2022,
doi = {10.1109/LRA.2022.3180108},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/mees22ral_a.pdf}
}
@article{chisari22ral,
author = {Chisari, Eugenio and Welschehold, Tim and Bödecker, Joschka and Burgard, Wolfram and Valada, Abhinav},
title = {Correct Me if I am Wrong: Interactive Learning for Robotic Manipulation},
journal = {IEEE Robotics and Automation Letters},
year = 2022,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/chisari22ral.pdf}
}
@inproceedings{mees22rsspi,
author = {Oier Mees and Wolfram Burgard},
title = {Language-Conditioned Policy Learning for Long-Horizon Robot Manipulation Tasks},
booktitle = {Proc.~of RSS Pioneers at Robotics: Science and Systems (RSS)},
year = 2022,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/mees22rsspi.pdf},
address = {New York, USA}
}
@inproceedings{nematollahi22icra,
author = {Iman Nematollahi and Erick Rosete-Beas and Adrian Roefer and Tim Welschehold and Abhinav Valada and Wolfram Burgard},
title = {Robot Skill Adaptation via Soft Actor-Critic Gaussian Mixture Models},
booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
year = 2022,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/nematollahi22icra.pdf},
address = {Philadelphia, USA}
}
@inproceedings{petek22icra,
author = {Kürsat Petek and Kshitij Sirohi and Daniel Büscher and Wolfram Burgard},
title = {Robust Monocular Localization in Sparse HD Maps Leveraging Multi-Task Uncertainty Estimation},
booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
year = 2022,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/petek22icra.pdf},
address = {Philadelphia, USA}
}
@inproceedings{borja22icra,
author = {Jessica Borja-Diaz and Oier Mees and Gabriel Kalweit and Lukas Hermann and Joschka Boedecker and Wolfram Burgard},
title = {Affordance Learning from Play for Sample-Efficient Policy Learning},
booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
year = 2022,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/borja22icra.pdf},
address = {Philadelphia, USA}
}
@article{yan21ral,
author = {Yan, Shengchao and Welschehold, Tim and Büscher, Daniel and Burgard, Wolfram},
title = {Courteous Behavior of Automated Vehicles at Unsignalized Intersections via Reinforcement Learning},
journal = {IEEE Robotics and Automation Letters},
volume = {7},
number = {1},
pages = {191--198},
year = 2022,
doi = {10.1109/LRA.2021.3121807},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/yan21ral.pdf}
}
@inproceedings{dorka21neurips-ws,
author = {Nicolai Dorka and Joschka Boedecker and Wolfram Burgard},
title = {Adaptively Calibrated Critic Estimates for Deep Reinforcement Learning},
booktitle = {Proc.~of the Workshop on Deep Reinforcement Learning at the Conference on Neural Information Processing Systems (NeurIPS)},
year = 2021,
month = dec,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/dorka21neurips-ws.pdf}
}
@phdthesis{caselitz21phd,
author = {Tim Caselitz},
title = {Camera-based Mapping and Localization in Varying Lighting Conditions},
school = {University of Freiburg, Department of Computer Science},
year = 2021,
month = nov,
doi = {https://doi.org/10.6094/UNIFR/223887},
url = {https://freidok.uni-freiburg.de/data/223887}
}
@phdthesis{kollmitz21phd,
author = {Marina Kollmitz},
title = {Perception and Learning for Mobile Robots in Populated Environments},
school = {University of Freiburg, Department of Computer Science},
year = 2021,
month = may,
doi = {https://doi.org/10.6094/UNIFR/218463},
url = {https://freidok.uni-freiburg.de/data/218463}
}
@phdthesis{zhang21phd,
author = {Jingwei Zhang},
title = {Learning Navigation Policies with Deep Reinforcement Learning},
school = {University of Freiburg, Department of Computer Science},
year = 2021,
month = apr,
doi = {https://doi.org/10.6094/UNIFR/218235},
url = {https://freidok.uni-freiburg.de/data/218235}
}
@article{krawez21ral,
author = {Krawez, Michael and Caselitz, Tim and Sundram, Jugesh and Van Loock, Mark and Burgard, Wolfram},
title = {Real-Time Outdoor Illumination Estimation for Camera Tracking in Indoor Environments},
journal = {IEEE Robotics and Automation Letters},
year = 2021,
doi = {10.1109/LRA.2021.3090455},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/krawez21ral.pdf}
}
@inproceedings{mees21iser,
author = {Oier Mees and Wolfram Burgard},
title = {Composing Pick-and-Place Tasks By Grounding Language},
booktitle = {Proceedings of the International Symposium on Experimental Robotics (ISER)},
year = 2021,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/mees21iser.pdf},
address = {La Valletta, Malta}
}
@article{winterhalter21jfr,
author = {Winterhalter, Wera and Fleckenstein, Freya and Dornhege, Christian and Burgard, Wolfram},
title = {Localization for precision navigation in agricultural fields—Beyond crop row following},
journal = {Journal of Field Robotics},
volume = {38},
number = {3},
pages = {429--451},
year = 2021,
doi = {10.1002/rob.21995},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/winterhalter21jfr.pdf}
}
@article{pretto20ram,
author = {Alberto Pretto and St{\'e}phanie Aravecchia and Wolfram Burgard and Nived Chebrolu and Christian Dornhege and Tillmann Falck and Freya Fleckenstein and Alessandra Fontenla and Marco Imperoli and Raghav Khanna and Frank Liebisch and Philipp Lottes and Andres Milioto and Daniele Nardi and Sandro Nardi and Johannes Pfeifer and Marija Popovi{\'{c}} and Ciro Potena and C{\'e}dric Pradalier and Elisa Rothacker-Feder and Inkyu Sa and Alexander Schaefer and Roland Siegwart and Cyrill Stachniss and Achim Walter and Wera Winterhalter and Xiaolong Wu and Juan Nieto},
title = {Building an Aerial-Ground Robotics System for Precision Farming: An Adaptable Solution},
journal = {IEEE Robotics \& Automation Magazine},
volume = {},
number = {},
pages = {},
year = 2020,
doi = {10.1109/MRA.2020.3012492},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/pretto20ram.pdf}
}
@phdthesis{schmitt20phd,
author = {Philipp Sebastian Schmitt},
title = {Planning and Control for Industrial Manipulation},
school = {University of Freiburg, Department of Computer Science},
year = 2020,
month = dec,
doi = {10.6094/UNIFR/174569},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/schmitt20phd.pdf}
}
@inproceedings{kollmitz20iros,
author = {Marina Kollmitz and Torsten Koller and Joschka Boedecker and Wolfram Burgard},
title = {Learning Human-Aware Robot Navigation from Physical Interaction via Inverse Reinforcement Learning},
booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages = {11025--11031},
year = 2020,
doi = {10.1109/IROS45743.2020.9340865},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/kollmitz20iros.pdf},
address = {Las Vegas, USA}
}
@inproceedings{yan20iros,
author = {Shengchao Yan and Jingwei Zhang and Daniel Büscher and Wolfram Burgard},
title = {Efficiency and Equity are Both Essential: A Generalized Traffic Signal Controller with Deep Reinforcement Learning},
booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages = {5526--5533},
year = 2020,
doi = {10.1109/IROS45743.2020.9340784},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/yan20iros.pdf},
address = {Las Vegas, USA}
}
@inproceedings{meyerjo20iros,
author = {Johannes Meyer and Andreas Eitel and Thomas Brox and Wolfram Burgard},
title = {Improving Unimodal Object Recognition with Multimodal Contrastive Learning},
booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = 2020,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/meyerjo20iros.pdf},
address = {Las Vegas, USA}
}
@inproceedings{vertens20iros,
author = {Johan Vertens and Jannik Zürn and Wolfram Burgard},
title = {HeatNet: Bridging the Day-Night Domain Gap in Semantic Segmentation with Thermal Images},
booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = 2020,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/vertens20iros.pdf},
address = {Las Vegas, USA}
}
@inproceedings{dorka20iros,
author = {Nicolai Dorka and Johannes Meyer and Wolfram Burgard},
title = {Modality-Buffet for Real-Time Object Detection},
booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = 2020,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/dorka20iros.pdf},
address = {Las Vegas, USA}
}
@phdthesis{dewan20phd,
author = {Ayush Dewan},
title = {Leveraging Motion and Semantic Cues for 3D Scene Understanding},
school = {University of Freiburg, Department of Computer Science},
year = 2020,
month = may,
doi = {https://doi.org/10.6094/UNIFR/166816},
url = {https://freidok.uni-freiburg.de/data/166816}
}
@phdthesis{boniardi@phd,
author = {Federico Boniardi},
title = {Methods for Mobile Robot Localization Using Architectural Floor Plans},
school = {University of Freiburg, Department of Computer Science},
year = 2020,
month = may,
doi = {https://doi.org/10.6094/UNIFR/167265},
url = {https://freidok.uni-freiburg.de/data/167265}
}
@inproceedings{dewan20icra,
author = {Ayush Dewan and Wolfram Burgard},
title = {DeepTemporalSeg: Temporally Consistent Semantic Segmentation of 3D LiDAR Scans},
booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
year = 2020,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/dewan20icra.pdf},
address = {Paris, France}
}
@phdthesis{luft20phd,
author = {Lukas Luft},
title = {Efficient Generalizations of Probabilistic Methods for Robot Localization and Mapping},
school = {University of Freiburg, Department of Computer Science},
year = 2020,
month = jul,
doi = {https://doi.org/10.6094/UNIFR/166492},
url = {https://freidok.uni-freiburg.de/data/166492}
}
@inproceedings{nematollahi20iros,
author = {Iman Nematollahi and Oier Mees and Lukas Hermann and Wolfram Burgard},
title = {Hindsight for Foresight: Unsupervised Structured Dynamics Models from Physical Interaction},
booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = 2020,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/nematollahi20iros.pdf},
address = {Las Vegas, USA}
}
@article{zuern19tro,
author = {Z{\"u}rn, Jannik and Burgard, Wolfram and Valada, Abhinav},
title = {Self-supervised visual terrain{\"{}} classification from unsupervised acoustic feature learning},
journal = {IEEE Transactions on Robotics},
year = 2020,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/zuern19tro.pdf},
publisher = {IEEE}
}
@inproceedings{caselitz20icra,
author = {Tim Caselitz and Michael Krawez and Jugesh Sundram and Mark Van Loock and Wolfram Burgard},
title = {Camera Tracking in Lighting Adaptable Maps of Indoor Environments},
booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
year = 2020,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/caselitz20icra.pdf},
address = {Paris, France}
}
@inproceedings{mees20icra-a,
author = {Oier Mees and Markus Merklinger and Gabriel Kalweit and Wolfram Burgard},
title = {Adversarial Skill Networks: Unsupervised Robot Skill Learning from Videos},
booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
year = 2020,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/mees20icra_a.pdf},
address = {Paris, France}
}
@inproceedings{mees20icra-b,
author = {Oier Mees and Alp Emek and Johan Vertens and Wolfram Burgard},
title = {Learning Object Placements For Relational Instructionsby Hallucinating Scene Representations},
booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
year = 2020,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/mees20icra_b.pdf},
address = {Paris, France}
}
@inproceedings{hermann20icra,
author = {Lukas Hermann and Maximilian Argus and Andreas Eitel and Artemij Amiranashvili and Wolfram Burgard and Thomas Brox},
title = {Adaptive Curriculum Generation from Demonstrations for Sim-To-Real Visuomotor Control},
booktitle = {Proceedings of the International Conference on Robotics and Automation (ICRA)},
year = 2020,
url = {https://ras.papercept.net/proceedings/ICRA20/1627.pdf},
address = {Paris, France}
}
@inproceedings{kollmitz20icra,
author = {Marina Kollmitz and Daniel B\"uscher and Wolfram Burgard},
title = {Predicting Obstacle Footprints from 2D Occupancy Maps by Learning from Physical Interactions},
booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
year = 2020,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/kollmitz20icra.pdf}
}
@phdthesis{schaefer20phd,
author = {Alexander Schaefer},
title = {Highly Accurate Lidar-Based Mapping and Localization for Mobile Robots},
school = {University of Freiburg, Department of Computer Science},
year = 2020,
month = mar,
doi = {https://doi.org/10.6094/UNIFR/155154},
url = {https://freidok.uni-freiburg.de/data/155154}
}
@article{kolkhorst20frobt,
author = {Kolkhorst, Henrich and Veit, Joseline and Burgard, Wolfram and Tangermann, Michael},
title = {A Robust Screen-Free Brain-Computer Interface for Robotic Object Selection},
journal = {Frontiers in Robotics and AI},
volume = {7},
year = 2020,
doi = {10.3389/frobt.2020.00038},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/kolkhorst20frobt.pdf},
issn = {2296-9144},
note = {Research Topic: Advances in the Integration of
Brain-Machine Interfaces and Robotic Devices}
}
@inproceedings{fleckenstein19fsr,
author = {Freya Fleckenstein and Wera Winterhalter and Christian Dornhege and C{\'e}dric Pradalier and Wolfram Burgard},
title = {Smooth Local Planning Incorporating Steering Constraints},
booktitle = {12th Conference on Field and Service Robotics (FSR)},
year = 2019,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/fleckenstein19fsr.pdf}
}
@inproceedings{wirnshofer19iros,
author = {Wirnshofer, Florian and Schmitt, Philipp S and Meister, Philine and Wichert, Georg v and Burgard, Wolfram},
title = {Robust, Compliant Assembly with Elastic Parts and Model Uncertainty},
booktitle = {2019 International Conference on Intelligent Robots and Systems (IROS)},
year = 2019,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/wirnshofer19iros.pdf},
organization = {IEEE}
}
@inproceedings{welschehold19iros,
author = {Tim Welschehold and Nichola Abdo and Christian Dornhege and Wolfram Burgard},
title = {Combined Task and Action Learning from Human Demonstrations for Mobile Manipulation Applications},
booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = 2019,
doi = {10.1109/IROS40897.2019.8968091},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/welschehold19iros.pdf},
address = {Hong Kong, China}
}
@inproceedings{schmitt19iros,
author = {Schmitt, Philipp S and Wirnshofer, Florian and Wurm, Kai M and Wichert, Georg v and Burgard, Wolfram},
title = {Planning Reactive Manipulation in Dynamic Environments},
booktitle = {2019 International Conference on Intelligent Robots and Systems (IROS)},
year = 2019,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/schmitt19iros.pdf},
organization = {IEEE}
}
@inproceedings{kolkhorst19isrr,
author = {Henrich Kolkhorst and Wolfram Burgard and Michael Tangermann},
title = {Learning User Preferences for Trajectories from Brain Signals},
booktitle = {Proceedings of the International Symposium on Robotics Research (ISRR)},
year = 2019,
month = oct,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/kolkhorst19isrr.pdf},
address = {Hanoi, Vietnam}
}
@inproceedings{valada19isrr,
author = {Mayank Mittal and Rohit Mohan and Wolfram Burgard and Abhinav Valada},
title = {Vision-Based Autonomous UAV Navigation and Landing for Urban Search and Rescue},
booktitle = {Proc.~of the International Symposium on Robotics Research (ISRR)},
year = 2019,
month = oct,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/valada19isrr.pdf},
address = {Hanoi, Vietnam}
}
@inproceedings{eitel19iros,
author = {Andreas Eitel and Nico Hauff and Wolfram Burgard},
title = {Self-supervised Transfer Learning for Instance Segmentation through Physical Interaction},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = 2019,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/eitel19iros.pdf},
address = {Macau, China}
}
@phdthesis{ruchti19phd,
author = {Philipp Ruchti},
title = {Robot Localization and Mapping in Dynamic Environments},
school = {University of Freiburg, Department of Computer Science, Autonomous Intelligent Systems Group},
year = 2019,
doi = {10.6094/UNIFR/149938},
url = {https://freidok.uni-freiburg.de/data/149938}
}
@article{boniardi19arxiv,
author = {Federico Boniardi and Abhinav Valada and Rohit Mohan and Tim Caselitz and Wolfram Burgard},
title = {Robot Localization in Floor Plans Using a Room Layout Edge Extraction Network},
journal = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = 2019,
month = nov,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/boniardi19iros.pdf}
}
@inproceedings{schaefer19ecmr,
author = {Alexander Schaefer and Daniel B{\"u}scher and Johan Vertens and Lukas Luft and Wolfram Burgard},
title = {Long-Term Urban Vehicle Localization Using Pole Landmarks Extracted from 3-{D} Lidar Scans},
booktitle = {European Conference on Mobile Robots (ECMR)},
pages = {1--7},
year = 2019,
month = sep,
doi = {10.1109/ECMR.2019.8870928},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/schaefer19ecmr.pdf}
}
@article{luft19ral,
author = {Lukas Luft and Federico Boniardi and Alexander Schaefer and Daniel B{\"u}scher and Wolfram Burgard},
title = {On the {Bayes} Filter for Shared Autonomy},
journal = {IEEE Robotics and Automation Letters (RA-L)},
volume = {4},
number = {4},
pages = {3286--3293},
year = 2019,
month = oct,
doi = {10.1109/LRA.2019.2926217},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/luft19ral.pdf}
}
@inproceedings{mees19iros,
author = {Oier Mees and Maxim Tatarchenko and Thomas Brox and Wolfram Burgard},
title = {Self-supervised 3D Shape and Viewpoint Estimation from Single Images for Robotics},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = 2019,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/mees19iros.pdf},
address = {Macao, China}
}
@article{valada19ijcv,
author = {Valada, Abhinav and Mohan, Rohit and Burgard, Wolfram},
title = {Self-Supervised Model Adaptation for Multimodal Semantic Segmentation},
journal = {International Journal of Computer Vision (IJCV)},
year = 2019,
month = jul,
doi = {10.1007/s11263-019-01188-y},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/valada19ijcv.pdf},
issn = {1573-1405},
day = {08},
note = {Special Issue: Deep Learning for Robotic Vision}
}
@phdthesis{radwan19phd,
author = {Noha Radwan},
title = {Leveraging Sparse and Dense Features for Reliable State Estimation in Urban Environments},
school = {University of Freiburg, Department of Computer Science},
year = 2019,
month = jun,
doi = {10.6094/UNIFR/149856},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/radwan19phd.pdf}
}
@inproceedings{wirnshofer2019icra,
author = {Wirnshofer, Florian and Schmitt, Philipp S and Meister, Philine and Wichert, Georg v and Burgard, Wolfram},
title = {State Estimation in Contact-Rich Manipulation},
booktitle = {2019 IEEE International Conference on Robotics and Automation (ICRA)},
year = 2019,
url = {https://ais.informatik.uni-freiburg.de/publications/papers/wirnshofer19icra.pdf},
googlevideo = {https://ais.informatik.uni-freiburg.de/publications/papers/wirnshofer19icra.mp4},
organization = {IEEE}
}
@inproceedings{zhang19icmlws,
author = {Jingwei Zhang and Niklas Wetzel and Nicolai Dorka and Joschka Boedecker and Wolfram Burgard},
title = {Scheduled Intrinsic Drive: A Hierarchical Take on Intrinsically Motivated Exploration},
booktitle = {Proc.~of the Workshop of Exploration in Reinforcement Learning at IEEE International Conference on Machine Learning (ICML)},
year = 2019,
month = jun,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/zhang19icmlws.pdf},
address = {Long Beach, USA}
}
@inproceedings{kolkhorst19gbcic,
author = {Kolkhorst, Henrich and Veit, Joseline and Burgard, Wolfram and Tangermann, Michael},
title = {Heterogeneity of Event-Related Potentials in a Screen-Free Brain-Computer Interface},
booktitle = {Proceedings of the 8th {{Graz Brain}}-{{Computer Interface Conference}} 2019},
year = 2019,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/kolkhorst19gbcic.pdf},
address = {Graz, Austria}
}
@inproceedings{kolkhorst19embc,
author = {Kolkhorst, Henrich and K{\"a}rkk{\"a}inen, Saku and Raheim, Amund Faller and Burgard, Wolfram and Tangermann, Michael},
title = {Influence of {{User Tasks}} on {{EEG}}-Based {{Classification Performance}} in a {{Hazard Detection Paradigm}}},
booktitle = {2019 41st {{Annual International Conference}} of the {{IEEE Engineering}} in {{Medicine}} and {{Biology Society}} ({{EMBC}})},
year = 2019,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/kolkhorst19embc.pdf},
address = {Berlin, Germany}
}
@inproceedings{radwan19rss,
author = {Noha Radwan and Wolfram Burgard},
title = {Multitask Learning for Reliable State Estimation},
booktitle = {Proc.~of RSS Pioneers at Robotics: Science and Systems (RSS)},
year = 2019,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/radwan19rssws.pdf},
address = {Freiburg, Germany}
}
@article{zhang19ral,
author = {Jingwei Zhang and Lei Tai and Yun Peng and Yufeng Xiong and Ming Liu and Joschka Boedecker and Wolfram Burgard},
title = {VR-Goggles for Robots: Real-to-Sim Domain Adaptation for Visual Control},
journal = {{IEEE} Robotics and Automation Letters (RA-L)},
volume = {4},
number = {2},
pages = {1148--1155},
year = 2019,
doi = {10.1109/LRA.2019.2894216},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/zhang19ral.pdf}
}
@inproceedings{nematollahi19icra,
author = {Iman Nematollahi and Daniel Kuhner and Tim Welschehold and Wolfram Burgard},
title = {Augmenting Action Model Learning by Non-Geometric Features},
booktitle = {2019 IEEE International Conference on Robotics and Automation (ICRA)},
year = 2019,
month = may,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/nematollahi19icra.pdf},
organization = {IEEE}
}
@inproceedings{schaefer19icra,
author = {Alexander Schaefer and Johan Vertens and Daniel B{\"u}scher and Wolfram Burgard},
title = {A Maximum Likelihood Approach to Extract Finite Planes from 3-{D} Laser Scans},
booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
pages = {72--78},
year = 2019,
month = may,
doi = {10.1109/ICRA.2019.8794318},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/schaefer19icra.pdf}
}
@phdthesis{valada19phd,
author = {Abhinav Valada},
title = {Discovering and Leveraging Deep Multimodal Structure for Reliable Robot Perception and Localization},
school = {University of Freiburg, Department of Computer Science},
year = 2019,
month = feb,
doi = {10.6094/UNIFR/17427},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/valada19phd.pdf}
}
@inproceedings{schmitt19icra,
author = {Philipp S. Schmitt and Florian Wirnshofer and Kai M. Wurm and Georg V. Wichert and Wolfram Burgard},
title = {Modeling and Planning Manipulation in Dynamic Environments},
booktitle = {2019 IEEE International Conference on Robotics and Automation (ICRA)},
year = 2019,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/schmitt19icra.pdf},
organization = {IEEE}
}
@article{kollmitz19ras,
author = {Marina Kollmitz and Andreas Eitel and Andres Vasquez and Wolfram Burgard},
title = {Deep {3D} perception of people and their mobility aids},
journal = {Robotics and Autonomous Systems},
volume = {114},
pages = {29--40},
year = 2019,
doi = {10.1016/j.robot.2019.01.011},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/kollmitz19ras.pdf},
issn = {0921-8890}
}
@article{boniardi18ras,
author = {Federico Boniardi and Tim Caselitz and Rainer K{\"u}mmerle and Wolfram Burgard},
title = {A Pose Graph-based Localization System for Long-term Navigation in {CAD} Floor Plans},
journal = {Robotics and Autonomous Systems},
volume = {112},
pages = {84--97},
year = 2019,
doi = {https://doi.org/10.1016/j.robot.2018.11.003},
url = {http://www.sciencedirect.com/science/article/pii/S0921889018306092},
issn = {0921-8890}
}
@inproceedings{ruchti18icra,
author = {Philipp Ruchti and Wolfram Burgard},
title = {Mapping with Dynamic-Object Probabilities Calculated from Single 3D Range Scans},
booktitle = {Proc.~of the IEEE Int. Conf. on Robotics \& Automation (ICRA)},
year = 2018,
month = may,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/ruchti18icra.pdf},
address = {Brisbane, Australia}
}
@inproceedings{wirnshofer2018icra,
author = {Wirnshofer, Florian and Schmitt, Philipp S and Feiten, Wendelin and Wichert, Georg v and Burgard, Wolfram},
title = {Robust, Compliant Assembly via Optimal Belief Space Planning},
booktitle = {2018 IEEE International Conference on Robotics and Automation (ICRA)},
pages = {1--5},
year = 2018,
url = {https://ais.informatik.uni-freiburg.de/publications/papers/wirnshofer18icra.pdf},
googlevideo = {https://ais.informatik.uni-freiburg.de/publications/papers/wirnshofer18icra.mp4},
organization = {IEEE}
}
@article{luft18ijrr,
author = {Lukas Luft and Tobias Schubert and Stergios I. Roumeliotis and Wolfram Burgard},
title = {Recursive decentralized localization for multi-robot systems with asynchronous pairwise communication},
journal = {The International Journal of Robotics Research},
volume = {37},
number = {10},
pages = {1152--1167},
year = 2018,
doi = {10.1177/0278364918760698},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/luft18ijrr.pdf}
}
@inproceedings{welschehold18iros,
author = {Tim Welschehold and Christian Dornhege and Fabian Paus and Tamim Asfour and Wolfram Burgard},
title = {Coupling Mobile Base and End-Effector Motion in Task Space},
booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = 2018,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/welschehold18iros.pdf},
address = {Madrid, Spain}
}
@inproceedings{krawez18iros,
author = {Michael Krawez and Tim Caselitz and Daniel B{\"u}scher and Mark Van Loock and Wolfram Burgard},
title = {Building Dense Reflectance Maps of Indoor Environments using an RGB-D Camera},
booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = 2018,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/krawez18iros.pdf},
address = {Madrid, Spain}
}
@inproceedings{dewan2018iros,
author = {Ayush Dewan and Tim Caselitz and Wolfram Burgard},
title = {Learning a Local Feature Descriptor for 3D LiDAR Scans},
booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = 2018,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/dewan18iros.pdf},
address = {Madrid, Spain}
}
@inproceedings{kolkhorst18iros,
author = {Henrich Kolkhorst and Michael Tangermann and Wolfram Burgard},
title = {Guess What I Attend: Interface-Free Object Selection Using Brain Signals},
booktitle = {2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages = {7111--7116},
year = 2018,
month = oct,
doi = {10.1109/IROS.2018.8593992},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/kolkhorst18iros.pdf},
issn = {2153-0866},
address = {Madrid, Spain}
}
@inproceedings{valada18irosws,
author = {Mayank Mittal and Abhinav Valada and Wolfram Burgard},
title = {Vision-based Autonomous Landing in Catastrophe-Struck Environments},
booktitle = {Proc.~of the Workshop on Vision-based Drones: What's Next? at IEEE/RSJ Int.~Conf.~on Intelligent Robots and Systems (IROS)},
year = 2018,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/valada18irosws.pdf},
address = {Madrid, Spain}
}
@article{radwan18ral,
author = {Noha Radwan and Abhinav Valada and Wolfram Burgard},
title = {VLocNet++: Deep Multitask Learning for Semantic Visual Localization and Odometry},
journal = {{IEEE} Robotics and Automation Letters (RA-L)},
volume = {3},
number = {4},
pages = {4407--4414},
year = 2018,
doi = {10.1109/LRA.2018.2869640},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/radwan18ral.pdf}
}
@inproceedings{kuhnerd18iros,
author = {Daniel Kuhner and Johannes Aldinger and Felix Burget and Moritz Göbelbecker and Wolfram Burgard and Bernhard Nebel},
title = {Closed-Loop Robot Task Planning Based on Referring Expressions},
booktitle = {Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = 2018,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/kuhnerd18iros.pdf},
address = {Madrid, Spain}
}
@inproceedings{radwan18iros-ws,
author = {Noha Radwan and Wolfram Burgard},
title = {Effective Interaction-aware Trajectory Prediction using Temporal Convolutional Neural Networks},
booktitle = {Proc.~of the Workshop on Crowd Navigation: Current Challenges and New Paradigms for Safe Robot Navigation in Dense Crowds at IEEE/RSJ Int.~Conf.~on Intelligent Robots and Systems (IROS)},
year = 2018,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/radwan18iros-ws.pdf},
address = {Madrid, Spain}
}
@article{winterhalter18ral,
author = {Wera Winterhalter and Freya Fleckenstein and Christian Dornhege and Wolfram Burgard},
title = {Crop Row Detection on Tiny Plants With the Pattern Hough Transform},
journal = {{IEEE} Robotics and Automation Letters (RA-L)},
volume = {3},
number = {4},
pages = {3394--3401},
year = 2018,
doi = {10.1109/LRA.2018.2852841},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/winterhalter18ral.pdf}
}
@inproceedings{schaefer18iros,
author = {Alexander Schaefer and Daniel B{\"u}scher and Lukas Luft and Wolfram Burgard},
title = {A Maximum Likelihood Approach to Extract Polylines from 2-{D} Laser Range Scans},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages = {4766--4773},
year = 2018,
month = oct,
doi = {10.1109/IROS.2018.8593844},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/schaefer18iros.pdf}
}
@inproceedings{glaser18iros,
author = {Stefan Glaser and Alexander Schaefer and Wolfram Burgard},
title = {Mapping and Localization using Multispectral Imaging of the Soil},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Unconventional Sensing and Processing for Robotic Visual Perception Workshop},
year = 2018,
month = oct,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/glaser18iros.pdf}
}
@inproceedings{menendez18iv,
author = {Cristina Men\'{e}ndez-Romero and Mustafa Sezer and Franz Winkler and Christian Dornhege and Wolfram Burgard},
title = {Courtesy Behavior for Highly Automated Vehicles on Highway Interchanges},
booktitle = {IEEE Intelligent Vehicles Symposium (IV)},
pages = {943--948},
year = 2018,
doi = {10.1109/IVS.2018.8500407},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/menendez18iv.pdf}
}
@inproceedings{valada18rsslair,
author = {Abhinav Valada and Noha Radwan and Wolfram Burgard},
title = {Incorporating Semantic and Geometric Priors in Deep Pose Regression},
booktitle = {Proc.~of the Workshop on Learning and Inference in Robotics: Integrating Structure, Priors and Models at Robotics: Science and Systems (RSS)},
year = 2018,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/valada18rsslair.pdf},
address = {Pittsburgh, USA}
}
@inproceedings{valada18rsspi,
author = {Abhinav Valada and Wolfram Burgard},
title = {Learning Reliable and Scalable Representations Using Multimodal Multitask Deep Learning},
booktitle = {Proc.~of RSS Pioneers at Robotics: Science and Systems (RSS)},
year = 2018,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/valada18rsspi.pdf},
address = {Pittsburgh, USA}
}
@inproceedings{do18ias,
author = {Chau Do and Wolfram Burgard},
title = {Accurate Pouring with an Autonomous Robot Using an RGB-D Camera},
booktitle = {The 15th International Conference on Intelligent Autonomous Systems (IAS)},
year = 2018,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/do18ias.pdf},
address = {Baden Baden, Germany}
}
@inproceedings{zimmermann18icra,
author = {Christian Zimmermann and Tim Welschehold and Christian Dornhege and Thomas Brox and Wolfram Burgard},
title = {3D Human Pose Estimation in RGBD Images for Robotic Task Learning},
booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
year = 2018,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/zimmermann18icra.pdf},
address = {Brisbane, Australia}
}
@inproceedings{kollmitz18icra,
author = {Marina Kollmitz and Daniel B\"uscher and Tobias Schubert and Wolfram Burgard},
title = {Whole-Body Sensory Concept for Compliant Mobile Robots},
booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
year = 2018,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/kollmitz18icra.pdf},
address = {Brisbane, Australia}
}
@inproceedings{zhelo18icraws,
author = {Oleksii Zhelo and Jingwei Zhang and Lei Tai and Ming Liu and Wolfram Burgard},
title = {Curiosity-driven Exploration for Mapless Navigation with Deep Reinforcement Learning},
booktitle = {Proc.~of the Workshop in Machine Learning in the Planning and Control of Robot Motion at IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
year = 2018,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/zhelo18icraws.pdf},
address = {Brisbane, Australia}
}
@inproceedings{tai18icra,
author = {Lei Tai and Jingwei Zhang and Ming Liu and Wolfram Burgard},
title = {Socially Compliant Navigation through Raw Depth Inputs with Generative Adversarial Imitation Learning},
booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
year = 2018,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/tai18icra.pdf},
address = {Brisbane, Australia}
}
@inproceedings{jund18icra,
author = {Philipp Jund and Andreas Eitel and Nichola Abdo and Wolfram Burgard},
title = {Optimization Beyond the Convolution: Generalizing Spatial Relations with End-to-End Metric Learning},
booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
year = 2018,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/jund18icra.pdf},
address = {Brisbane, Australia}
}
@article{luft18ral,
author = {L. Luft and A. Schaefer and T. Schubert and W. Burgard},
title = {Detecting Changes in the Environment Based on Full Posterior Distributions Over Real-Valued Grid Maps},
journal = {IEEE Robotics and Automation Letters (RA-L)},
volume = {3},
number = {2},
pages = {1299--1305},
year = 2018,
month = apr,
doi = {10.1109/LRA.2018.2797317},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/luft18ral.pdf},
issn = {}
}
@article{schaefer18ral,
author = {A. Schaefer and L. Luft and W. Burgard},
title = {{DCT} Maps: {compact} Differentiable Lidar Maps Based on the Cosine Transform},
journal = {IEEE Robotics and Automation Letters (RA-L)},
volume = {3},
number = {2},
pages = {1002--1009},
year = 2018,
month = apr,
doi = {10.1109/LRA.2018.2794602},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/schaefer18ral.pdf},
issn = {}
}
@inproceedings{valada18icra,
author = {Abhinav Valada and Noha Radwan and Wolfram Burgard},
title = {Deep Auxiliary Learning for Visual Localization and Odometry},
booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
year = 2018,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/valada18icra.pdf},
address = {Brisbane, Australia}
}
@inproceedings{schmitt17icra,
author = {Philipp S. Schmitt and Werner Neubauer and Wendelin Feiten and Kaim M. Wurm and Georg V. Wichert and Wolfram Burgard},
title = {Optimal, sampling-based manipulation planning},
booktitle = {2017 IEEE International Conference on Robotics and Automation (ICRA)},
pages = {3426--3432},
year = 2017,
doi = {10.1109/ICRA.2017.7989390},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/schmitt17icra.pdf},
organization = {IEEE}
}
@inproceedings{menendez17iv,
author = {Cristina Men\'{e}ndez-Romero and Franz Winkler and Christian Dornhege and Wolfram Burgard},
title = {Maneuver planning for highly automated vehicles},
booktitle = {IEEE Intelligent Vehicles Symposium (IV)},
pages = {1458--1464},
year = 2017,
doi = {10.1109/IVS.2017.7995915},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/menendez17iv.pdf}
}
@inproceedings{oliveira17isrr,
author = {Gabriel Oliveira and Noha Radwan and Wolfram Burgard and Thomas Brox},
title = {Topometric Localization with Deep Learning},
booktitle = {Proc.~of the International Symposium on Robotics Research (ISRR)},
year = 2017,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/oliveira17isrr.pdf},
address = {Puerto Varas, Chile}
}
@inproceedings{eitel17isrr,
author = {Andreas Eitel and Nico Hauff and Wolfram Burgard},
title = {Learning to Singulate Objects using a Push Proposal Network},
booktitle = {Proc.~of the International Symposium on Robotics Research (ISRR)},
year = 2017,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/eitel17isrr.pdf},
address = {Puerto Varas, Chile}
}
@inproceedings{burgard_2017_isrr,
author = {Wolfram Burgard and Abhinav Valada and Noha Radwan and Tayyab Naseer and Jingwei Zhang and Johan Vertens and Oier Mees and Andreas Eitel and Gabriel Oliveira},
title = {Perspectives on Deep Multimodel Robot Learning},
booktitle = {Proc.~of the International Symposium on Robotics Research (ISRR)},
year = 2017,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/burgard17isrr.pdf},
address = {Puerto Varas, Chile}
}
@article{kuhnera17frontiers,
author = {Kuhner, Andreas and Schubert, Tobias and Cenciarini, Massimo and Wiesmeier, Isabella Katharina and Coenen, Volker Arnd and Burgard, Wolfram and Weiller, Cornelius and Maurer, Christoph},
title = {Correlations between Motor Symptoms across Different Motor Tasks, Quantified via Random Forest Feature Classification in Parkinson’s Disease},
journal = {Frontiers in Neurology},
volume = {8},
pages = {607},
year = 2017,
doi = {10.3389/fneur.2017.00607},
url = {https://www.frontiersin.org/article/10.3389/fneur.2017.00607},
issn = {1664-2295}
}
@inproceedings{burget17ecmr,
author = {Felix Burget and Lukas Dominique Josef Fiederer and Daniel Kuhner and Martin Völker and Johannes Aldinger and Robin Tibor Schirrmeister and Chau Do and Joschka Boedecker and Bernhard Nebel and Tonio Ball and Wolfram Burgard},
title = {Acting Thoughts: Towards a Mobile Robotic Service Assistant for Users with Limited Communication Skills},
booktitle = {Proc.~of the IEEE European Conference on Mobile Robotics (ECMR)},
year = 2017,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/burget17ecmr.pdf},
address = {Paris, France}
}
@inproceedings{vasquez17ecmr,
author = {Andres Vasquez and Marina Kollmitz and Andreas Eitel and Wolfram Burgard},
title = {Deep Detection of People and their Mobility Aids for a Hospital Robot},
booktitle = {Proc.~of the IEEE European Conference on Mobile Robotics (ECMR)},
year = 2017,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/vasquez17ecmr.pdf}
}
@inproceedings{zhang17iros,
author = {Jingwei Zhang and Jost Tobias Springenberg and Joschka Boedecker and Wolfram Burgard},
title = {Deep Reinforcement Learning with Successor Features for Navigation across Similar Environments},
booktitle = {Proc. ~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = 2017,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/zhang17iros.pdf}
}
@inproceedings{naseer17iros,
author = {Naseer, Tayyab and Burgard, Wolfram},
title = {Deep Regression for Monocular Camera-based 6-DoF Global Localization in Outdoor Environments},
booktitle = {Proc. ~of the IEEE Int.~Conf.~on Intelligent Robots and Systems (IROS)},
year = 2017,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/naseer17iros.pdf}
}
@inproceedings{boniardi17iros,
author = {Federico Boniardi and Tim Caselitz and Rainer K{\"u}mmerle and Wolfram Burgard},
title = {Robust {L}i{DAR}-based Localization in Architectural Floor Plans},
booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = 2017,
doi = {10.1109/IROS.2017.8206168},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/boniardi17iros.pdf},
address = {Vancouver, Canada}
}
@inproceedings{welschehold17iros,
author = {Tim Welschehold and Christian Dornhege and Wolfram Burgard},
title = {Learning Mobile Manipulation Actions from Human Demonstrations},
booktitle = {Proc.~of the IEEE Int.~Conf.~on Intelligent Robots and Systems (IROS)},
year = 2017,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/welschehold17iros.pdf},
address = {Vancouver, Canada}
}
@inproceedings{kraemer17iros,
author = {Florian Kraemer and Alexander Schaefer and Andreas Eitel and Johan Vertens and Wolfram Burgard},
title = {From Plants to Landmarks: {time}-invariant Plant Localization that uses Deep Pose Regression in Agricultural Fields},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Agri-Food Robotics Workshop},
year = 2017,
month = sep,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/kraemer17iros.pdf}
}
@inproceedings{kuhnera17iros,
author = {Andreas Kuhner and Tobias Schubert and Christoph Maurer and Wolfram Burgard},
title = {An Online System for Tracking the Performance of Parkinson's Patients},
booktitle = {Proc.~of the IEEE Int.~Conf.~on Intelligent Robots and Systems (IROS)},
year = 2017,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/kuhnera17iros.pdf}
}
@inproceedings{schiotka17iros,
author = {Alexander Schiotka and Benjamin Suger and Wolfram Burgard},
title = {Robot Localization with Sparse Scan-based Maps},
booktitle = {Proc.~of the IEEE Int.~Conf.~on Intelligent Robots and Systems (IROS)},
year = 2017,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/schiotka17iros.pdf}
}
@article{valada17ijrr,
author = {Abhinav Valada and Wolfram Burgard},
title = {Deep Spatiotemporal Models for Robust Proprioceptive Terrain Classification},
journal = {The International Journal of Robotics Research (IJRR)},
volume = {36},
number = {13--14},
pages = {1521--1539},
year = 2017,
doi = {10.1177/0278364917727062},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/valada17ijrr.pdf},
publisher = {SAGE Publications Sage UK: London, England}
}
@inproceedings{kolkhorst17gbcic,
author = {Kolkhorst, Henrich and Burgard, Wolfram and Tangermann, Michael},
title = {Decoding {{Hazardous Events}} in {{Driving Videos}}},
booktitle = {Proceedings of the 7th {{Graz Brain}}-{{Computer Interface Conference}} 2017},
pages = {242--247},
year = 2017,
doi = {10.3217/978-3-85125-533-1-45},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/kolkhorst17gbcic.pdf},
address = {Graz, Austria}
}
@article{chebrolu17,
author = {Nived Chebrolu and Philipp Lottes and Alexander Schaefer and Wera Winterhalter and Wolfram Burgard and Cyrill Stachniss},
title = {Agricultural robot dataset for plant classification, localization and mapping on sugar beet fields},
journal = {The International Journal of Robotics Research (IJRR)},
volume = {36},
number = {10},
pages = {1045--1052},
year = 2017,
doi = {10.1177/0278364917720510},
url = {https://doi.org/10.1177/0278364917720510},
eprint = {https://doi.org/10.1177/0278364917720510}
}
@article{schaefer17ral,
author = {Alexander Schaefer* and Lukas Luft* and Wolfram Burgard},
title = {An Analytical Lidar Sensor Model Based on Ray Path Information},
journal = {IEEE Robotics and Automation Letters (RA-L)},
volume = {2},
number = {3},
pages = {1405--1412},
year = 2017,
month = jul,
doi = {10.1109/LRA.2017.2669376},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/schaefer17ral.pdf},
issn = {2377-3766}
}
@inproceedings{luft17iros,
author = {Lukas Luft* and Alexander Schaefer* and Tobias Schubert and Wolfram Burgard},
title = {Closed-Form Full Map Posteriors for Robot Localization with Lidar Sensors},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages = {6678--6684},
year = 2017,
month = sep,
doi = {10.1109/IROS.2017.8206583},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/luft17iros.pdf}
}
@inproceedings{radwan17iros,
author = {Noha Radwan and Wera Winterhalter and Christian Dornhege and Wolfram Burgard},
title = {Why Did the Robot Cross the Road? - Learning from Multi-Modal Sensor Data for Autonomous Road Crossing},
booktitle = {Proc.~of the IEEE Int.~Conf.~on Intelligent Robots and Systems (IROS)},
year = 2017,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/radwan17iros.pdf}
}
@inproceedings{valada17iros,
author = {Johan Vertens and Abhinav Valada and Wolfram Burgard},
title = {SMSnet: Semantic Motion Segmentation using Deep Convolutional Neural Networks},
booktitle = {Proc.~of the IEEE Int.~Conf.~on Intelligent Robots and Systems (IROS)},
year = 2017,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/valada17iros.pdf}
}
@inproceedings{dewan2017iros,
author = {Ayush Dewan and Gabriel L. Oliveira and Wolfram Burgard},
title = {Deep Semantic Classification for 3D LiDAR Data},
booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = 2017,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/dewan17iros.pdf}
}
@inproceedings{suger17icra,
author = {Suger, Benjamin and Burgard, Wolfram},
title = {Global Outer-Urban Navigation with OpenStreetMap},
booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
year = 2017,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/suger17icra.pdf},
address = {Singapore, Singapore}
}
@article{naseer17ras,
author = {Naseer, Tayyab and Suger, Benjamin and Ruhnke, Michael and Burgard, Wolfram},
title = {Vision-based Markov Localization for Long-term Autonomy},
journal = {Robotics and Autonomous Systems (RAS)},
year = 2017,
url = {http://www.sciencedirect.com/science/article/pii/S0921889016300501}
}
@inproceedings{naseer17icra,
author = {Naseer, Tayyab and Oliveira, Gabriel and Brox, Thomas and Burgard, Wolfram},
title = {Semantics-aware Visual Localization under Challenging Perceptual Conditions},
booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics and Automation (ICRA)},
year = 2017,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/naseer17icra.pdf},
address = {Singapore}
}
@inproceedings{fleckenstein17icra,
author = {Fleckenstein, Freya and Dornhege, Christian and Burgard, Wolfram},
title = {Efficient Path Planning for Mobile Robots with Adjustable Wheel Positions},
booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics and Automation (ICRA)},
year = 2017,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/fleckenstein17icra.pdf},
address = {Singapore}
}
@inproceedings{mees17iros,
author = {Oier Mees and Nichola Abdo and Mladen Mazuran and Wolfram Burgard},
title = {Metric Learning for Generalizing Spatial Relations to New Objects},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = 2017,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/mees17iros.pdf},
address = {Vancouver, Canada}
}
@inproceedings{valada17icra,
author = {Abhinav Valada and Johan Vertens and Ankit Dhall and Wolfram Burgard},
title = {AdapNet: Adaptive Semantic Segmentation in Adverse Environmental Conditions},
booktitle = {Proc.~of the IEEE International Conference on Robotics \& Automation (ICRA)},
year = 2017,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/valada17icra.pdf},
address = {Singapore}
}
@inproceedings{kolkhorst17hri-ws,
author = {Kolkhorst, Henrich and Tangermann, Michael and Burgard, Wolfram},
title = {Decoding {{Perceived Hazardousness}} from {{User}}'s {{Brain States}} to {{Shape Human}}-{{Robot Interaction}}},
booktitle = {Proceedings of the {{Companion}} of the 2017 {{ACM}}/{{IEEE International Conference}} on {{Human}}-{{Robot Interaction}}},
pages = {349--350},
year = 2017,
doi = {10.1145/3029798.3034826},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/kolkhorst17hri-ws.pdf},
address = {Vienna, Austria}
}
@article{speck17ral,
author = {David Speck and Christian Dornhege and Wolfram Burgard},
title = {Shakey 2016 - How Much Does it Take to Redo Shakey the Robot?},
journal = {IEEE Robotics and Automation Letters (RA-L)},
volume = {2},
number = {2},
pages = {1203--1209},
year = 2017,
doi = {10.1109/LRA.2017.2665694},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/speck17ral.pdf}
}
@article{schopp16tim,
author = {P. Schopp and H. Graf and W. Burgard and Y. Manoli},
title = {Self-Calibration of Accelerometer Arrays},
journal = {{IEEE} Transactions on Instrumentation and Measurement},
volume = {65},
number = {8},
pages = {1913--1925},
year = 2016,
doi = {10.1109/TIM.2016.2549758},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/schopp16tim.pdf}
}
@article{abdo16ijrr,
author = {Abdo, Nichola and Stachniss, Cyrill and Spinello, Luciano and Burgard, Wolfram},
title = {Organizing objects by predicting user preferences through collaborative filtering},
journal = {The International Journal of Robotics Research},
year = 2016,
doi = {10.1177/0278364916649248},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/abdo16ijrr.pdf},
publisher = {SAGE Publications Sage UK: London, England}
}
@inproceedings{welschehold16iros,
author = {Tim Welschehold and Christian Dornhege and Wolfram Burgard},
title = {Learning Manipulation Actions from Human Demonstrations},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages = {3772--3777},
year = 2016,
doi = {10.1109/IROS.2016.7759555},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/welschehold16iros.pdf},
address = {Daejeon, Korea}
}
@inproceedings{burget16iros,
author = {Felix Burget and Maren Bennewitz and Wolfram Burgard},
title = {BI2RRT*: An efficient sampling-based path planning framework for task-constrained mobile manipulation},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages = {3714--3721},
year = 2016,
doi = {10.1109/IROS.2016.7759547},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/burget16iros.pdf},
address = {Daejeon, Korea}
}
@inproceedings{gordillo16iros,
author = {Camilo Gordillo and Barbara Frank and Istvan Ulbert and Oliver Paul and Patrick Ruther and Wolfram Burgard},
title = {Automatic channel selection in neural microprobes: A combinatorial multi-armed bandit approach},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages = {1844--1850},
year = 2016,
doi = {10.1109/IROS.2016.7759293},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/gordillo16iros.pdf},
address = {Daejeon, Korea}
}
@article{jund16groceries,
author = {Philipp Jund and Nichola Abdo and Andreas Eitel and Wolfram Burgard},
title = {The Freiburg Groceries Dataset},
booktitle = {CoRR},
volume = {abs/1611.05799},
year = 2016,
month = nov,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/jund16groceries.pdf}
}
@inproceedings{do16iros,
author = {Chau Do and Tobias Schubert and Wolfram Burgard},
title = {A Probabilistic Approach to Liquid Level Detection in Cups Using an RGB-D Camera},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = 2016,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/do16iros.pdf},
address = {Daejeon, Korea}
}
@inproceedings{valada16irosws,
author = {Abhinav Valada and Ankit Dhall and Wolfram Burgard},
title = {Convoluted Mixture of Deep Experts for Robust Semantic Segmentation},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Workshop, State Estimation and Terrain Perception for All Terrain Mobile Robots},
year = 2016,
month = oct,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/valada16irosws.pdf},
address = {Daejeon, Korea}
}
@article{wachaja16ar,
author = {Wachaja, Andreas and Agarwal, Pratik and Zink, Mathias and Adame, Miguel Reyes and M{\"o}ller, Knut and Burgard, Wolfram},
title = {Navigating blind people with walking impairments using a smart walker},
journal = {Autonomous Robots},
pages = {1--19},
year = 2016,
doi = {10.1007/s10514-016-9595-8},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/wachaja16ar.pdf},
issn = {1573-7527}
}
@inproceedings{kuhner16iros,
author = {Andreas Kuhner and Tobias Schubert and Massimo Cenciarini and Christoph Maurer and Wolfram Burgard},
title = {A Probabilistic Approach Based on Random Forests to Estimating Similarity of Human Motion in the Context of Parkinson's Disease},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = 2016,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/kuhner16iros.pdf},
address = {Daejeon, Korea}
}
@inproceedings{suger16iros,
author = {Benjamin Suger and Bastian Steder and Wolfram Burgard},
title = {Terrain-Adaptive Obstacle Detection},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = 2016,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/suger16iros.pdf},
address = {Daejeon, Korea}
}
@inproceedings{caselitz16iros,
author = {Tim Caselitz and Bastian Steder and Michael Ruhnke and Wolfram Burgard},
title = {Monocular Camera Localization in 3D LiDAR Maps},
booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = 2016,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/caselitz16iros.pdf},
address = {Daejeon, Korea}
}
@inproceedings{valada16rssws,
author = {Abhinav Valada and Gabriel Oliveira and Thomas Brox and Wolfram Burgard},
title = {Towards Robust Semantic Segmentation using Deep Fusion},
booktitle = {Robotics: Science and Systems (RSS 2016) Workshop, Are the Sceptics Right? Limits and Potentials of Deep Learning in Robotics},
year = 2016,
month = jun,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/valada16rssws.pdf},
address = {Ann Arbor, USA}
}
@inproceedings{valada16iser,
author = {Abhinav Valada and Gabriel Oliveira and Thomas Brox and Wolfram Burgard},
title = {Deep Multispectral Semantic Scene Understanding of Forested Environments using Multimodal Fusion},
booktitle = {The 2016 International Symposium on Experimental Robotics (ISER 2016)},
year = 2016,
month = oct,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/valada16iser.pdf},
address = {Tokyo, Japan}
}
@inproceedings{mees16iros,
author = {Oier Mees and Andreas Eitel and Wolfram Burgard},
title = {Choosing Smartly: Adaptive Multimodal Fusion for Object Detection in Changing Environments},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = 2016,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/mees16iros.pdf},
address = {Daejeon, Korea}
}
@inproceedings{dewan2016iros,
author = {Ayush Dewan and Tim Caselitz and Gian Diego Tipaldi and Wolfram Burgard},
title = {Rigid Scene Flow for 3D LiDAR Scans},
booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = 2016,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/dewan-16iros.pdf},
address = {Daejeon, Korea}
}
@inproceedings{oliveira2016iros,
author = {Gabriel Oliveira and Wolfram Burgard and Thomas Brox},
title = {Efficient Deep Models for Monocular Road Segmentation},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016)},
year = 2016,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/oliveira16iros.pdf},
address = {Daejeon, Korea}
}
@inproceedings{luft16rss,
author = {Lukas Luft AND Tobias Schubert AND Stergios I. Roumeliotis AND Wolfram Burgard},
title = {Recursive Decentralized Collaborative Localization for Sparsely Communicating Robots},
booktitle = {Proceedings of Robotics: Science and Systems},
year = 2016,
month = jun,
doi = {10.15607/RSS.2016.XII.016},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/luft16rss.pdf},
address = {AnnArbor, Michigan}
}
@inproceedings{schubert16icra,
author = {Tobias Schubert and Katharina Eggensperger and Alexis Gkogkidis and Frank Hutter and Tonio Ball and Wolfram Burgard},
title = {Automatic Bone Parameter Estimation for Skeleton Tracking in Optical Motion Capture},
booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
year = 2016,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/schubert16icra.pdf},
address = {Stockholm, Sweden}
}
@inproceedings{oliveira2016,
author = {Gabriel Oliveira and Abhinav Valada and Claas Bollen and Wolfram Burgard and Thomas Brox},
title = {Deep Learning for Human Part Discovery in Images},
booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
year = 2016,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/oliveira16icra.pdf},
address = {Stockholm, Sweden}
}
@inproceedings{dewan16icra,
author = {Ayush Dewan and Tim Caselitz and Gian Diego Tipaldi and Wolfram Burgard},
title = {Motion-based Detection and Tracking in 3D LiDAR Scans},
booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
year = 2016,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/dewan16icra.pdf},
address = {Stockholm, Sweden}
}
@inproceedings{radwan16icra,
author = {Noha Radwan and Gian Diego Tipaldi and Luciano Spinello and Wolfram Burgard},
title = {Do you see the Bakery? Leveraging Geo-Referenced Texts for Global Localization in Public Maps},
booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
year = 2016,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/radwan16icra.pdf},
address = {Stockholm, Sweden}
}
@inproceedings{boniardi16icra,
author = {Federico Boniardi and Abhinav Valada and Wolfram Burgard and Gian Diego Tipaldi},
title = {Autonomous Indoor Robot Navigation Using a Sketch Interface for Drawing Maps and Routes},
booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
year = 2016,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/boniardi16icra.pdf},
address = {Stockholm, Sweden}
}
@article{osswald16ral,
author = {Stefan O{\ss}wald and Maren Bennewitz and Wolfram Burgard and Cyrill Stachniss},
title = {Speeding-Up Robot Exploration by Exploiting Background Information},
journal = {{IEEE} Robotics and Automation Letters (RA-L)},
volume = {1},
number = {2},
pages = {716--723},
year = 2016,
doi = {10.1109/LRA.2016.2520560},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/osswald16ral.pdf},
issn = {2377-3766}
}
@article{sprunk16auro,
author = {Christoph Sprunk and Boris Lau and Patrick Pfaff and Wolfram Burgard},
title = {An Accurate and Efficient Navigation System for Omnidirectional Robots in Industrial Environments},
journal = {Autonomous Robots},
pages = {1--21},
year = 2016,
doi = {10.1007/s10514-016-9557-1},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/sprunk16auro.pdf},
issn = {1573-7527}
}
@article{kretzschmar16ijrr,
author = {Henrik Kretzschmar and Markus Spies and Christoph Sprunk and Wolfram Burgard},
title = {Socially Compliant Mobile Robot Navigation via Inverse Reinforcement Learning},
journal = {The International Journal of Robotics Research},
year = 2016,
doi = {10.1177/0278364915619772},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/kretzschmar16ijrr.pdf}
}
@inproceedings{vysotska15icra,
author = {Vysotska, Olga and Naseer, Tayyab and Spinello, Luciano and Burgard, Wolfram and Stachniss, Cyrill},
title = {Efficient and Effective Matching of Image Sequences Under Substantial Appearance Changes Exploiting GPS Priors},
booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
year = 2015,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/vysotska15icra.pdf}
}
@phdthesis{sprunk15phd,
author = {Christoph Sprunk},
title = {Highly Accurate Mobile Robot Navigation},
school = {Albert-Ludwigs-University of Freiburg, Department of Computer Science},
year = 2015,
month = nov,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/sprunk15phd.pdf}
}
@phdthesis{agarwal15phd,
author = {Pratik Agarwal},
title = {Robust Graph-Based Localization and Mapping},
school = {Albert-Ludwigs-University of Freiburg, Department of Computer Science},
year = 2015,
month = apr,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/agarwal15phd.pdf}
}
@inproceedings{burget15iros,
author = {Felix Burget and Christoph Maurer and Wolfram Burgard and Maren Bennewitz},
title = {Learning motor control parameters for motion strategy analysis of Parkinson's disease patients},
booktitle = {Proc.~of the IEEE Int.~Conf.~on Intelligent Robots and Systems (IROS)},
pages = {5019--5025},
year = 2015,
doi = {10.1109/IROS.2015.7354083},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/burget15iros.pdf},
address = {Hamburg, Germany}
}
@inproceedings{eitel15iros,
author = {Andreas Eitel and Jost Tobias Springenberg and Luciano Spinello and Martin Riedmiller and Wolfram Burgard},
title = {Multimodal Deep Learning for Robust RGB-D Object Recognition},
booktitle = {Proc.~of the IEEE Int.~Conf.~on Intelligent Robots and Systems (IROS)},
year = 2015,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/eitel15iros.pdf},
address = {Hamburg, Germany}
}
@inproceedings{agarwal15iros,
author = {Pratik Agarwal and Wolfram Burgard and Luciano Spinello},
title = {Metric Localization using Google Street View},
booktitle = {Proc.~of the IEEE Int.~Conf.~on Intelligent Robots and Systems (IROS)},
year = 2015,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/agarwal15iros.pdf},
address = {Hamburg, Germany}
}
@inproceedings{behzadian15iros,
author = {Bahram Behzadian and Pratik Agarwal and Wolfram Burgard and Gian Diego Tipaldi},
title = {Monte Carlo Localization in Hand-Drawn Maps},
booktitle = {Proc.~of the IEEE Int.~Conf.~on Intelligent Robots and Systems (IROS)},
year = 2015,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/behzadian15iros.pdf},
address = {Hamburg, Germany}
}
@inproceedings{wachaja15iros,
author = {Wachaja, Andreas and Agarwal, Pratik and Zink, Mathias and Reyes Adame, Miguel and M\"oller, Knut and Burgard, Wolfram},
title = {Navigating Blind People with a Smart Walker},
booktitle = {Proc.~of the IEEE Int.~Conf.~on Intelligent Robots and Systems (IROS)},
year = 2015,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/wachaja15iros.pdf},
address = {Hamburg, Germany}
}
@inproceedings{naseer15iros,
author = {Naseer, Tayyab and Ruhnke, Michael and Spinello, Luciano and Stachniss, Cyrill and Burgard, Wolfram},
title = {Robust Visual SLAM Across Seasons},
booktitle = {Proc.~of the IEEE Int.~Conf.~on Intelligent Robots and Systems (IROS)},
year = 2015,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/naseer15iros.pdf}
}
@inproceedings{roewekaemper15iros,
author = {J\"org R\"owek\"amper and Benjamin Suger and Wolfram Burgard and Gian Diego Tipaldi},
title = {Accurate Localization with Respect to Moving Objects via Multiple-Body Registration},
booktitle = {Proc.~of the IEEE Int. Conf. on Intelligent Robots and Systems (IROS)},
year = 2015,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/roewekaemper15iros.pdf}
}
@inproceedings{winterhalter15iros,
author = {Winterhalter, Wera and Fleckenstein, Freya and Steder, Bastian and Spinello, Luciano and Burgard, Wolfram},
title = {Accurate Indoor Localization for {RGB-D} Smartphones and Tablets given {2D} Floor Plans},
booktitle = {Proc.~of the IEEE Int. Conf. on Intelligent Robots and Systems (IROS)},
year = 2015,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/winterhalter15iros.pdf}
}
@inproceedings{mazuran15isrr,
author = {Mladen Mazuran and Federico Boniardi and Wolfram Burgard and Gian Diego Tipaldi},
title = {Relative Topometric Localization in Globally Inconsistent Maps},
booktitle = {Proc.~of the International Symposium on Robotics Research (ISRR)},
year = 2015,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/mazuran15isrr.pdf},
address = {Sestri Levante}
}
@inproceedings{valada15isrr,
author = {Abhinav Valada and Luciano Spinello and Wolfram Burgard},
title = {Deep Feature Learning for Acoustic-based Terrain Classification},
booktitle = {Proc.~of the International Symposium on Robotics Research (ISRR)},
year = 2015,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/valada15isrr.pdf},
address = {Sestri Levante}
}
@inbook{burgard15worldrobotics,
author = {Wolfram Burgard and Patrick Pfaff and Christoph Sprunk},
title = {World Robotics 2015 Service Robots: Statistics, Market Analysis, Forecasts, Case Studies},
pages = {256--263},
year = 2015,
editor = {Martin H\"agele},
chapter = {Flexible Autonomous Navigation for Industrial Shop
Floor Applications},
publisher = {International Federation of Robotics (IFR),
Statistical Department},
isbn = {978-3-8163-0680-1}
}
@inproceedings{kollmitz15ecmr,
author = {Marina Kollmitz and Kaijen Hsiao and Johannes Gaa and Wolfram Burgard},
title = {Time Dependent Planning on a Layered Social Cost Map for Human-Aware Robot Navigation},
booktitle = {Proc.~of the IEEE European Conference on Mobile Robots (ECMR)},
year = 2015,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/kollmitz15ecmr.pdf},
address = {Lincoln}
}
@inproceedings{boniardi15ecmr,
author = {Federico Boniardi and Bahram Behzadian and Wolfram Burgard and Gian Diego Tipaldi},
title = {Robot Navigation in Hand-Drawn Sketched Maps},
booktitle = {Proc.~of the IEEE European Conference on Mobile Robots (ECMR)},
year = 2015,
doi = {10.1109/ECMR.2015.7324188},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/boniardi15ecmr.pdf},
address = {Lincoln}
}
@inproceedings{dilucia15ecmr,
author = {Stefano {Di~Lucia} and Gian Diego Tipaldi and Wolfram Burgard},
title = {Attitude Stabilization Control of an Aerial Manipulator using a Quaternion-based Backstepping Approach},
booktitle = {Proc.~of the IEEE European Conference on Mobile Robots (ECMR)},
year = 2015,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/dilucia15ecmr.pdf},
address = {Lincoln}
}
@inproceedings{naseer15ecmr,
author = {Naseer, Tayyab and Suger, Benjamin and Ruhnke, Michael and Burgard, Wolfram},
title = {Vision-Based Markov Localization Across Large Perceptual Changes},
booktitle = {Proc.~of the IEEE European Conference on Mobile Robots (ECMR)},
year = 2015,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/naseer15ecmr.pdf},
address = {Lincoln}
}
@inproceedings{mazuran15icra,
author = {Mladen Mazuran and Christoph Sprunk and Wolfram Burgard and Gian Diego Tipaldi},
title = {Lex{TOR}: Lexicographic Teach Optimize and Repeat Based on User Preferences},
booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
year = 2015,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/mazuran15icra.pdf},
address = {Seattle}
}
@inproceedings{schroeer15icra,
author = {S. Schr\"oer and I. Killmann and B. Frank and M. V\"olker and L. D. J. Fiederer and T. Ball and W. Burgard},
title = {An Autonomous Robotic Assistant for Drinking},
booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
year = 2015,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/schroeer15icra.pdf}
}
@inproceedings{schubert15icra,
author = {Tobias Schubert and Alexis Gkogkidis and Tonio Ball and Wolfram Burgard},
title = {Automatic Initialization for Skeleton Tracking in Optical Motion Capture},
booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
pages = {734--739},
year = 2015,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/schubert15icra.pdf}
}
@inproceedings{frank15icra,
author = {B. Frank and M. Ruhnke and M. Tatarchenko and W. Burgard},
title = {{3D}-Reconstruction of Indoor Environments from Human Activity},
booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
year = 2015,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/frank15icra.pdf}
}
@inproceedings{roewekaemper15icra,
author = {J\"org R\"owek\"amper and Michael Ruhnke and Bastian Steder and Wolfram Burgard and Gian Diego Tipaldi},
title = {Automatic Extrinsic Calibration of Multiple Laser Range Sensors with Little Overlap},
booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
year = 2015,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/roewekaemper15icra.pdf}
}
@inproceedings{ruchti15icra,
author = {Philipp Ruchti and Bastian Steder and Michael Ruhnke and Wolfram Burgard},
title = {Localization on OpenStreetMap Data using a 3D Laser Scanner},
booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
year = 2015,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/ruchti15icra.pdf}
}
@inproceedings{suger15icra,
author = {Benjamin Suger and Bastian Steder and Wolfram Burgard},
title = {Traversability Analysis for Mobile Robots in Outdoor Environments: A Semi-Supervised Learning Approach Based on 3D-Lidar Data},
booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
year = 2015,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/suger15icra.pdf}
}
@inproceedings{steder15icra,
author = {Bastian Steder and Michael Ruhnke and Rainer K{\"u}mmerle and Wolfram Burgard},
title = {Maximum Likelihood Remission Calibration for Groups of Heterogeneous Laser Scanners},
booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
year = 2015,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/steder15icra.pdf}
}
@inproceedings{kuderer15icra,
author = {Markus Kuderer and Shilpa Gulati and Wolfram Burgard},
title = {Learning Driving Styles for Autonomous Vehicles from Demonstration},
booktitle = {Proc.~of the IEEE International Conference on Robotics and Automation (ICRA)},
year = 2015,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/kuderer15icra.pdf},
address = {Seattle, USA}
}
@inproceedings{abdo15icra,
author = {Nichola Abdo and Cyrill Stachniss and Luciano Spinello and Wolfram Burgard},
title = {Robot, Organize my Shelves! Tidying up Objects by Predicting User Preferences},
booktitle = {Proc.~of the IEEE International Conference on Robotics and Automation (ICRA)},
year = 2015,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/abdo15icra.pdf},
address = {Seattle, USA}
}
@incollection{sprunk14iser,
author = {C. Sprunk and J. Roewekaemper and G. Parent and L. Spinello and G. D. Tipaldi and W. Burgard and M. Jalobeanu},
title = {An Experimental Protocol for Benchmarking Robotic Indoor Navigation},
booktitle = {Experimental Robotics},
volume = {109},
pages = {487--504},
year = 2015,
doi = {10.1007/978-3-319-23778-7_32},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/sprunk14iser.pdf},
editor = {Hsieh, M. Ani and Khatib, Oussama and Kumar,
Vijay},
publisher = {Springer International Publishing},
series = {Springer Tracts in Advanced Robotics},
isbn = {978-3-319-23777-0}
}
@article{kummerle14jfr,
author = {K{\"u}mmerle, Rainer and Ruhnke, Michael and Steder, Bastian and Stachniss, Cyrill and Burgard, Wolfram},
title = {Autonomous Robot Navigation in Highly Populated Pedestrian Zones},
journal = {Journal of Field Robotics},
year = 2014,
doi = {10.1002/rob.21534},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/kuemmerle14jfr.pdf}
}
@article{endres14tro,
author = {F. Endres and J. Hess and J. Sturm and D. Cremers and W. Burgard},
title = {3{D} Mapping with an {RGB-D} Camera},
journal = {IEEE Trans. on Robotics},
volume = {30},
number = {1},
pages = {177--187},
year = 2014,
month = feb,
doi = {10.1109/TRO.2013.2279412},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/endres14tro.pdf}
}
@inproceedings{endres14iros,
author = {F. Endres and C. Sprunk and R. K{\"u}mmerle and W. Burgard},
title = {A Catadioptric Extension for {RGB-D} Cameras},
booktitle = {Proc.~of the IEEE/RSJ Int.~Conf.~on Intelligent Robots and Systems (IROS)},
year = 2014,
doi = {10.1109/IROS.2014.6942600},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/endres14iros.pdf},
location = {Chicago, Illinois, USA}
}
@inproceedings{vysotska14iros,
author = {O. Vysotska and B. Frank and I. Ulbert and O. Paul and P. Ruther and C. Stachniss and W. Burgard},
title = {Automatic Channel Selection and Neural Signal Estimation across Channels of Neural Probes},
booktitle = {Proceedings of the {IEEE/RSJ} International Conference on Intelligent Robots and Systems ({IROS})},
pages = {1453--1459},
year = 2014,
month = sep,
doi = {10.1109/IROS.2014.6942748},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/vysotska14iros.pdf},
address = {Chicago, IL, USA},
keyword = {Neurorobotics, Brain Machine Interfaces}
}
@inproceedings{wachaja14iros-ws,
author = {Andreas Wachaja and Pratik Agarwal and Miguel Reyes Adame and Knut M\"oller and Wolfram Burgard},
title = {A Navigation Aid for Blind People with Walking Disabilities},
booktitle = {IROS Workshop on Rehabilitation and Assistive Robotics: Bridging the Gap Between Clinicians and Roboticists},
year = 2014,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/wachaja14iros-ws.pdf},
address = {Chicago, USA}
}
@article{agarwal14ram,
author = {Pratik Agarwal and Wolfram Burgard and Cyrill Stachniss},
title = {A Survey of Geodetic Approaches to Mapping and the Relationship to Graph-Based SLAM},
journal = {Robotics and Automation Magazine},
year = 2014,
month = sep,
doi = {10.1109/MRA.2014.2322282},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/agarwal-geodetic.pdf}
}
@inproceedings{agarwal14icra-dcs,
author = {Pratik Agarwal and Giorgio Grisetti and Gian Diego Tipaldi and Luciano Spinello and Wolfram Burgard and Cyrill Stachniss},
title = {Experimental Analysis of Dynamic Covariance Scaling for Robust Map Optimization Under Bad Initial Estimates},
booktitle = {Proceedings of the {IEEE} International Conference on Robotics and Automation ({ICRA})},
year = 2014,
doi = {10.1109/ICRA.2014.6907383},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/agarwal2014bicra.pdf},
address = {Hong Kong, China},
keyword = {SLAM, Robust optimization}
}
@inproceedings{agarwal14icra-geo,
author = {Pratik Agarwal and Wolfram Burgard and Cyrill Stachniss},
title = {Helmert's and Bowie's Geodetic Mapping Methods and Their Relationship to Graph-Based SLAM},
booktitle = {Proceedings of the {IEEE} International Conference on Robotics and Automation ({ICRA})},
year = 2014,
doi = {10.1109/ICRA.2014.6907382},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/agarwal2014aicra.pdf},
address = {Hong Kong, China},
keyword = {SLAM, Survey, Geodetic}
}
@inproceedings{beinhofer14arw,
author = {Maximilian Beinhofer and Wolfram Burgard},
title = {Efficient Estimation of Expected Distributions for Mobile Robot Navigation},
booktitle = {Proc.~of the Austrian Robotics Workshop (ARW)},
year = 2014,
month = may,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/beinhofer14arw.pdf},
address = {Linz, Austria}
}
@phdthesis{joho14diss,
author = {Dominik Joho},
title = {Learning and Utilizing Spatial Object Relations for Service Robots},
school = {Albert-Ludwigs-Universit\"{a}t Freiburg},
year = 2014,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/joho14diss.pdf}
}
@inproceedings{kuderer14icsr,
author = {Markus Kuderer and Wolfram Burgard},
title = {An Approach to Socially Compliant Leader Following for Mobile Robots},
booktitle = {Social Robotics},
volume = {8755},
pages = {239--248},
year = 2014,
doi = {10.1007/978-3-319-11973-1_24},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/kuderer14icsr.pdf},
publisher = {Springer International Publishing},
series = {Lecture Notes in Computer Science}
}
@inproceedings{kretzschmar14icra,
author = {Henrik Kretzschmar and Markus Kuderer and Wolfram Burgard},
title = {Learning to Predict Trajectories of Cooperatively Navigating Agents},
booktitle = {Proc.~of the IEEE International Conference on Robotics and Automation (ICRA)},
year = 2014,
doi = {10.1109/ICRA.2014.6907442},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/kretzschmar14icra.pdf},
address = {Hong Kong, China}
}
@inproceedings{kuderer14icra,
author = {Markus Kuderer and Christoph Sprunk and Henrik Kretzschmar and Wolfram Burgard},
title = {Online Generation of Homotopically Distinct Navigation Paths},
booktitle = {Proc.~of the IEEE International Conference on Robotics and Automation (ICRA)},
year = 2014,
doi = {10.1109/ICRA.2014.6907813},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/kuderer14icra.pdf},
address = {Hong Kong, China}
}
@inproceedings{osswald14icra,
author = {Stefan O{\ss}wald and Henrik Kretzschmar and Wolfram Burgard and Cyrill Stachniss},
title = {Learning to Give Route Directions from Human Demonstrations},
booktitle = {Proc.~of the IEEE International Conference on Robotics and Automation (ICRA)},
pages = {3303--3308},
year = 2014,
month = may,
doi = {10.1109/ICRA.2014.6907334},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/osswald14icra.pdf},
address = {Hong Kong, China},
abstract = {For several applications, robots and other
computer systems must provide route descriptions to
humans. These descriptions should be natural and
intuitive for the human users. In this paper, we
present an algorithm that learns how to provide
good route descriptions from a corpus of human-
written directions. Using inverse reinforcement
learning, our algorithm learns how to select the
information for the description depending on the
context of the route segment. The algorithm then
uses the learned policy to generate directions that
imitate the style of the descriptions provided by
humans, thus taking into account personal as well
as cultural preferences and special requirements of
the particular user group providing the learning
demonstrations. We evaluate our approach in a user
study and show that the directions generated by our
policy sound similar to human-given directions and
substantially more natural than directions provided
by commercial web services.}
}
@article{wurm14ras,
author = {Kai M. Wurm and Henrik Kretzschmar and Rainer K{\"u}mmerle and Cyrill Stachniss and Wolfram Burgard},
title = {Identifying Vegetation from Laser Data in Structured Outdoor Environments},
journal = {Robotics and Autonomous Systems},
volume = {62},
pages = {675--684},
year = 2014,
doi = {10.1016/j.robot.2012.10.003},
url = {http://www.sciencedirect.com/science/article/pii/S0921889012001868},
issue = {5}
}
@inproceedings{ilg14icra,
author = {Ilg, E. and K{\"u}mmerle, R. and Burgard, W. and Brox, T.},
title = {Reconstruction of Rigid Body Models from Motion Distorted Laser Range Data Using Optical Flow},
booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics and Automation (ICRA)},
year = 2014,
doi = {10.1109/ICRA.2014.6907535},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/ilg14icra.pdf},
address = {Hong Kong, China},
abstract = {The setup of tilting a 2D laser range finder up
and down is a widespread strategy to acquire 3D
point clouds. This setup requires that the scene
is static while the robot takes a 3D scan. If an
object moves through the scene during the
measurement process and one does not take into
account these movements, the resulting model will
get distorted. This paper presents an approach to
reconstruct the 3D model of a moving rigid object
from the inconsistent set of 2D measurements by the
help of a camera. Our approach utilizes optical
flow in the camera images to estimate the motion in
the image plane and point-line constraints to
compensate the missing information about the motion
in depth. We combine multiple sweeps and/or views
into to a single consistent model using a point-to-
plane ICP approach and optimize single sweeps by
smoothing the resulting trajectory. Experiments
obtained in real outdoor scenarios with moving cars
demonstrate that our approach yields accurate
models.}
}
@inproceedings{mazuran14rss,
author = {Mladen Mazuran and Gian Diego Tipaldi and Luciano Spinello and Wolfram Burgard},
title = {Nonlinear Graph Sparsification for SLAM},
booktitle = {Proc.~of Robotics: Science and Systems (RSS)},
year = 2014,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/mazuran14rss.pdf},
address = {Berkeley}
}
@inproceedings{mazuran14icra,
author = {Mladen Mazuran and Gian Diego Tipaldi and Luciano Spinello and Wolfram Burgard and Cyrill Stachniss},
title = {A Statistical Measure for Map Consistency in SLAM},
booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
year = 2014,
doi = {10.1109/ICRA.2014.6907387},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/mazuran14icra1.pdf},
address = {Hong Kong}
}
@inproceedings{meyer14icra,
author = {J. Meyer and M. Kuderer and J. M{\"u}ller and W. Burgard},
title = {Online Marker Labeling for Fully Automatic Skeleton Tracking in Optical Motion Caputure},
booktitle = {Proc.~of the IEEE International Conference on Robotics and Automation (ICRA)},
year = 2014,
doi = {10.1109/ICRA.2014.6907690},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/meyer14icra.pdf}
}
@article{frank14ras,
author = {B. Frank and C. Stachniss and R. Schmedding and M. Teschner and W. Burgard},
title = {Learning object deformation models for robot motion planning},
journal = {Robotics and Autonomous Systems},
volume = {62},
number = {8},
pages = {1153--1174},
year = 2014,
month = apr,
doi = {10.1016/j.robot.2014.04.005},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/frank14ras.pdf}
}
@inproceedings{naseer14aaai,
author = {T. Naseer and L. Spinello and W. Burgard and C. Stachniss},
title = {Robust Visual Robot Localization Across Seasons using Network Flows},
booktitle = {Proc.~of the Conf.~of the Association for the Advancement of Artificial Intelligence (AAAI)},
year = 2014,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/naseer14aaai.pdf},
address = {Quebec, Canada},
note = {In press}
}
@inproceedings{abdo14icra,
author = {N. Abdo and L. Spinello and W. Burgard and C. Stachniss},
title = {Inferring What to Imitate in Manipulation Actions by Using a Recommender System},
booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
year = 2014,
doi = {10.1109/ICRA.2014.6907006},
address = {Hong Kong, China}
}
@inproceedings{ito14icra,
author = {S. Ito and F. Endres and M. Kuderer and G.D. Tipaldi and C. Stachniss and W. Burgard},
title = {W-RGB-D: Floor-Plan-Based Indoor Global Localization Using a Depth Camera and WiFi},
booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
year = 2014,
doi = {10.1109/ICRA.2014.6906890},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/ito14icra.pdf},
address = {Hong Kong, China}
}
@inproceedings{suger14icra,
author = {Benjamin Suger and Gian D. Tipaldi and Luciano Spinello and W. Burgard},
title = {An Approach to Solving Large-Scale SLAM Problems with a Small Memory Footprint},
booktitle = {Proc.~of the IEEE International Conference on Robotics and Automation (ICRA)},
year = 2014,
doi = {10.1109/ICRA.2014.6907384},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/suger14icra.pdf}
}
@mastersthesis{ruchti13msc,
author = {Philipp Ruchti},
title = {Learning Reactive Robot Navigation Policies from Predictive Trajectory Planning},
school = {University of Freiburg, Department of Computer Science, Autonomous Intelligent Systems Group},
year = 2013,
url = {http://www.informatik.uni-freiburg.de/~ruchtip/images/Master_thesis_ruchti.pdf},
address = {Freiburg}
}
@article{olson2013ijrr,
author = {Edwin Olson and Pratik Agarwal},
title = {Inference on networks of mixtures for robust robot mapping},
journal = {International Journal of Robotics Research},
volume = {32},
number = {7},
pages = {826--840},
year = 2013,
month = jul,
doi = {http://ijr.sagepub.com/content/32/7/826.abstract?etocv},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/agarwal2013ijrr.pdf}
}
@inproceedings{endres13icra-ws,
author = {F. Endres and J. Trinkle and W. Burgard},
title = {Interactive Perception for Learning the Dynamics of Articulated Objects},
booktitle = {Proceedings of the ICRA 2013 Mobile Manipulation Workshop on Interactive Perception},
year = 2013,
month = may,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/endres13icra-ws.pdf},
address = {Karlsruhe, Germany}
}
@inproceedings{agarwal13icra,
author = {Pratik Agarwal and Gian Diego Tipaldi and Luciano Spinello and Cyrill Stachniss and Wolfram Burgard},
title = {Robust Map Optimization using Dynamic Covariance Scaling},
booktitle = {Proceedings of the {IEEE} International Conference on Robotics and Automation ({ICRA})},
year = 2013,
month = may,
doi = {10.1109/ICRA.2013.6630557},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/agarwalicra13_DCS.pdf},
address = {Karlsruhe, Germany},
keyword = {SLAM, Robust optimization}
}
@inproceedings{agarwal13icraws,
author = {Pratik Agarwal and Gian Diego Tipaldi and Luciano Spinello and Cyrill Stachniss and Wolfram Burgard},
title = {Dynamic Covariance Scaling for Robust Robotic Mapping},
booktitle = {Workshop on robust and Multimodal Inference in Factor Graphs, {ICRA}},
year = 2013,
month = may,
doi = {10.1109/ICRA.2013.6630557},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/agarwal13_icra_ws.pdf},
address = {Karlsruhe, Germany},
keyword = {SLAM, Robust optimization}
}
@inproceedings{endres13iros,
author = {F. Endres and J. Trinkle and W. Burgard},
title = {Learning the Dynamics of Doors for Robotic Manipulation},
booktitle = {Proc.~of the IEEE/RSJ Int.~Conf.~on Intelligent Robots and Systems (IROS)},
year = 2013,
month = nov,
doi = {10.1109/IROS.2013.6696861},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/endres13iros.pdf},
address = {Tokyo, Japan}
}
@inproceedings{beinhofer13iros,
author = {Maximilian Beinhofer and J{\"o}rg M{\"u}ller and Andreas Krause and Wolfram Burgard},
title = {Robust Landmark Selection for Mobile Robot Navigation},
booktitle = {Proc.~of the IEEE Int. Conf. on Intelligent Robots and Systems (IROS)},
year = 2013,
month = nov,
doi = {10.1109/IROS.2013.6696728},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/beinhofer13iros.pdf},
address = {Tokyo, Japan}
}
@inproceedings{hess13icra,
author = {J{\"u}rgen Hess and Maximilian Beinhofer and Daniel Kuhner and Philipp Ruchti and Wolfram Burgard},
title = {Poisson-Driven Dirt Maps for Efficient Robot Cleaning},
booktitle = {Proc.~of the IEEE Int. Conf. on Robotics \& Automation (ICRA)},
pages = {2245--2250},
year = 2013,
month = may,
doi = {10.1109/ICRA.2013.6630880},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/hess13icra.pdf},
issn = {2153-0858},
address = {Karlsruhe, Germany},
abstract = {Being able to estimate the dirt distribution in an
environment makes it possible to compute efficient
paths for robotic cleaners. In this paper, we
present a novel approach for modeling and
estimating the dynamics of the generation of dirt
in an environment. Our model uses cell-wise Poisson
processes on a regular grid to estimate the
distribution of dirt in the environment. It allows
for an effective estimation of the dynamics of the
generation of dirt and for making predictions about
the absolute dirt values. We propose two efficient
cleaning policies that are based on the estimated
dirt distributions and can easily be adapted to
different needs of potential users. Through
extensive experiments carried out with a modified
iRobot Roomba vacuum cleaning robot and in
simulation we demonstrate the effectiveness of our
approach.}
}
@inproceedings{beinhofer13icra,
author = {Maximilian Beinhofer and Henrik Kretzschmar and Wolfram Burgard},
title = {Deploying Artificial Landmarks to Foster Data Association in Simultaneous Localization and Mapping},
booktitle = {Proc.~of the IEEE Int. Conf. on Robotics \& Automation (ICRA)},
year = 2013,
month = may,
doi = {10.1109/ICRA.2013.6631325},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/beinhofer13icra.pdf},
address = {Karlsruhe, Germany}
}
@article{beinhofer13ras,
author = {Maximilian Beinhofer and J{\"o}rg M{\"u}ller and Wolfram Burgard},
title = {Effective Landmark Placement for Accurate and Reliable Mobile Robot Navigation},
journal = {Robotics and Autonomous Systems (RAS)},
volume = {61},
number = {10},
pages = {1060--1069},
year = 2013,
doi = {10.1016/j.robot.2012.08.009},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/beinhofer13ras.pdf},
issn = {0921-8890}
}
@inproceedings{kuderer13iros,
author = {Markus Kuderer and Henrik Kretzschmar and Wolfram Burgard},
title = {Teaching Mobile Robots to Cooperatively Navigate in Populated Environments},
booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = 2013,
doi = {10.1109/IROS.2013.6696802},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/kuderer13iros.pdf},
address = {Tokyo, Japan}
}
@inproceedings{kretzschmar13rldm,
author = {Henrik Kretzschmar and Markus Kuderer and Wolfram Burgard},
title = {Predicting Human Navigation Behavior via Inverse Reinforcement Learning},
booktitle = {The 1st Multidisciplinary Conference on Reinforcement Learning and Decision Making (RLDM)},
year = 2013,
address = {Princeton, NJ, USA}
}
@inproceedings{kretzschmar13rss-ws,
author = {Henrik Kretzschmar and Markus Kuderer and Wolfram Burgard},
title = {Learning Navigation Policies from Human Demonstrations},
booktitle = {Proc.~of the Workshop on Inverse Optimal Control \& Robotic Learning from Demonstration at Robotics: Science and Systems (RSS)},
year = 2013,
address = {Berlin, Germany}
}
@inproceedings{kretzschmar13alw,
author = {Henrik Kretzschmar and Markus Kuderer and Wolfram Burgard},
title = {Inferring Navigation Policies for Mobile Robots from Demonstrations},
booktitle = {Proc.~of the Autonomous Learning Workshop at the IEEE International Conference on Robotics and Automation (ICRA)},
year = 2013,
address = {Karlsruhe, Germany}
}
@inproceedings{abdo13icra,
author = {Nichola Abdo and Henrik Kretzschmar and Luciano Spinello and Cyrill Stachniss},
title = {Learning Manipulation Actions from a Few Demonstrations},
booktitle = {Proc.~of the IEEE International Conference on Robotics and Automation (ICRA)},
year = 2013,
doi = {10.1109/ICRA.2013.6630734},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/abdo13icra.pdf},
address = {Karlsruhe, Germany}
}
@inproceedings{kuemmerle13icra,
author = {K{\"u}mmerle, R and Ruhnke, M. and Steder, B. and Stachniss, C. and Burgard, W.},
title = {A Navigation System for Robots Operating in Crowded Urban Environments},
booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics and Automation (ICRA)},
year = 2013,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/kuemmerle13icra.pdf},
address = {Karlsruhe, Germany},
abstract = {Over the past years, there has been a tremendous
progress in the area of robot navigation. Most of
the systems developed thus far, however, are
restricted to indoor scenarios, non-urban outdoor
environments, or road usage with cars. Urban areas
introduce numerous challenges to autonomous mobile
robots as they are highly complex and in addition
to that dynamic. In this paper, we present a
navigation system for pedestrian-like autonomous
navigation with mobile robots in city environments.
We describe different components including a SLAM
system for dealing with huge maps of city centers,
a planning approach for inferring feasible paths
taking also into account the traversability and
type of terrain, and a method for accurate
localization in dynamic environments. The
navigation system has been implemented and tested
in several large-scale field tests in which the
robot Obelix managed to autonomously navigate from
our university campus over a 3.3 km long route to
the city center of Freiburg.}
}
@phdthesis{kuemmerle13phd,
author = {Rainer K{\"u}mmerle},
title = {State Estimation and Optimization for Mobile Robot Navigation},
school = {Albert-Ludwigs-University of Freiburg, Department of Computer Science},
year = 2013,
month = apr,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/kuemmerle-dissertation.pdf},
downloads = {http://www.freidok.uni-freiburg.de/volltexte/8967/_FreiDok},
downloads = {http://www.freidok.uni-freiburg.de/volltexte/8967/_FreiDok},
abstract = {Robust autonomous navigation is a key feature of a
mobile robot realizing services such as
transportation, cleaning, search and rescue, and
surveillance. In addition to that, navigation is a
building block for a robot assisting humans in
potentially dangerous situations, such as search-
and-rescue scenarios. Hence, navigation is one of
the major research topics in the robotics
community. To realize the above mentioned
applications, we need to fulfill certain
requirements, so that a robot is regarded as
useful. For example, a robot which performs pick-
and-place tasks or offers guidance in city centers
needs to be aware of its own position in the
environment and it needs to have an accurate model
of the environment for planning an appropriate
path. A robot which should guide a human to a
certain place or has to deliver goods is only
regarded as helping hand, if the location is
reliably reached within the expected time frame.
Particularly, estimating the state which describes
the current situation of the navigation system is
complex. In this thesis, we focus on efficient and
accurate state estimation techniques which apply
probabilistic algorithms. An example for such a
state estimation task is the Simultaneous
Localization and Mapping (SLAM) problem, in which a
robot has to address both aspects. First, it needs
to estimate what the environment looks like. This
is the mapping part which deals with integrating
the information obtained by the sensors of the
robot into an appropriate representation. Second,
the localization component has to estimate the
position of the robot with respect to the model of
the environment. In the first part of this thesis,
we present efficient approaches to estimate the
state of the robot while performing SLAM. Our
approach allows a robot to accurately estimate the
model of the environment in an online setting and
also in situations when provided with a poor
initial guess. Additionally, we provide an
empirical evaluation which demonstrates the
advantages of our approach compared to other state-
of-the-art methods. Subsequently, we extend our
state estimation approach to also include the
unknown calibration parameters, which might change
during the lifetime of the robot, to incorporate
prior information about the structure of the
environment, and to improve the fine-grained
details of the estimated models. In the second part
of this thesis, we demonstrate two challenging
applications which we realized by building upon and
extending the algorithms presented in the first
part. In detail, we discuss an approach which
allows a car to autonomously park in a complex
multi-level parking garage. As second application
we present a robotic pedestrian assistant which is
able to navigate in densely populated pedestrian
zones. All techniques presented in this thesis have
been implemented and tested using both real-world
data collected with mobile robots and simulated
data. To support our claims, we performed an
extensive collection of experiments, in which we
compared the performance of our approaches with the
state-of-the- art. We believe that the proposed
approaches will allow us in the future to build
systems that can assist humans in their homes and
at their workplaces.}
}
@article{hoeflinger13tim,
author = {H\"{o}flinger, F. and M\"{u}ller, J. and Zhang, R. and Burgard, W. and Reindl, L.M.},
title = {A Wireless Micro Inertial Measurement Unit ({IMU})},
journal = {IEEE Transactions on Instrumentation \& Measurement},
year = 2013,
doi = {10.1109/TIM.2013.2255977},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/hoeflinger13tim.pdf}
}
@inproceedings{riefert13vts,
author = {Riefert, A. and M\"{u}ller, J. and Sauer, M. and Burgard, W. and Becker, B.},
title = {Identification of Critical Variables using an {FPGA}-based Fault Injection Framework},
booktitle = {Proceedings of the IEEE VLSI Test Symposium (VTS)},
year = 2013,
month = apr,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/riefert13vts.pdf},
address = {Berkeley, CA, USA}
}
@article{mueller13ar,
author = {M\"{u}ller, J. and Burgard, W.},
title = {Efficient Probabilistic Localization for Autonomous Indoor Airships using Sonar, Air Flow, and {IMU} Sensors},
journal = {Advanced Robotics},
volume = {27},
number = {9},
pages = {711--724},
year = 2013,
doi = {10.1080/01691864.2013.779005},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/mueller13ar.pdf}
}
@inproceedings{riefert13tuz,
author = {Riefert, A. and M\"{u}ller, J. and Sauer, M. and Burgard, W. and Becker, B.},
title = {Identification of Critical Variables using an {FPGA}-based Fault Injection Framework},
booktitle = {Proceedings of the Workshop Testmethoden und Zuverlässigkeit von Schaltungen und Systemen (TUZ)},
year = 2013,
month = feb,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/riefert13tuz.pdf},
address = {Dresden, Germany}
}
@inproceedings{meyer13icraws,
author = {Meyer, J. and Kuderer, M. and M\"{u}ller, J. and Burgard, W.},
title = {Online Marker Labeling for Automatic Skeleton Tracking in Optical Motion Capture},
booktitle = {Proceedings of the ICRA Workshop on Computational Techniques in Natural Motion Analysis and Reconstruction},
year = 2013,
month = may,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/meyer13icraws.pdf},
address = {Karlsruhe, Germany}
}
@techreport{sittel13regression,
author = {Sittel, F. and M\"{u}ller, J. and Burgard, W.},
title = {Computing Velocities and Accelerations from a Pose Time Sequence in Three-dimensional Space},
number = {272},
year = 2013,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/sittel13tr.pdf},
institution = {University of Freiburg, Department of Computer
Science}
}
@phdthesis{mueller13phd,
author = {J\"{o}rg M\"{u}ller},
title = {Autonomous Navigation for Miniature Indoor Airships},
school = {Albert-Ludwigs-University of Freiburg, Department of Computer Science},
year = 2013,
month = jun,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/mueller13phd.pdf}
}
@inproceedings{roewekaemper13iros,
author = {J. Roewekaemper and G.D. Tipaldi and W. Burgard},
title = {Learning to Guide Random Tree Planners in High Dimensional Spaces},
booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = 2013,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/roewekaemper13iros.pdf},
address = {Tokyo Big Sight, Japan}
}
@inproceedings{ruhnke13aaai,
author = {Ruhnke, M. and Bo, L. and Fox, D. and Burgard, W.},
title = {Compact {RGBD} Surface Models Based on Sparse Coding},
booktitle = {Proc.~of the National Conference on Artificial Intelligence (AAAI)},
year = 2013,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/ruhnke13aaai.pdf}
}
@article{lau13ras,
author = {B. Lau and C. Sprunk and W. Burgard},
title = {Efficient grid-based spatial representations for robot navigation in dynamic environments},
journal = {Robotics and Autonomous Systems},
volume = {61},
number = {10},
pages = {1116--1130},
year = 2013,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/lau13ras.pdf}
}
@inproceedings{sprunk13iros,
author = {C. Sprunk and G.D. Tipaldi and A. Cherubini and W. Burgard},
title = {Lidar-based Teach-and-Repeat of Mobile Robot Trajectories},
booktitle = {Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS)},
year = 2013,
month = nov,
doi = {10.1109/IROS.2013.6696803},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/sprunk13iros.pdf},
address = {Tokyo, Japan}
}
@inproceedings{dakulovic13iros,
author = {M. Dakulovic and C. Sprunk and L. Spinello and I. Petrovic and W. Burgard},
title = {Efficient Navigation for Anyshape Holonomic Mobile Robots in Dynamic Environments},
booktitle = {Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS)},
year = 2013,
month = nov,
doi = {10.1109/IROS.2013.6696729},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/dakulovic13iros.pdf},
address = {Tokyo, Japan}
}
@inproceedings{bogoslavskyi13ecmr,
author = {I. Bogoslavskyi and O. Vysotska and J. Serafin and G. Grisetti and C. Stachniss},
title = {Efficient Traversability Analysis for Mobile Robots using the Kinect Sensor},
booktitle = {Proc.~of the European Conference on Mobile Robots (ECMR)},
year = 2013,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/bogoslavskyi13ecmr.pdf},
address = {Barcelona, Spain}
}
@article{burgard13forschung,
author = {W. Burgard and C. Stachniss},
title = {Gestatten, Obelix!},
journal = {Forschung -- Das Magazin der Deutschen Forschungsgemeinschaft},
volume = {1},
year = 2013,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/forschung_2013_01-pg4-9.pdf},
note = {In German, invited}
}
@article{hornung13auro,
author = {A. Hornung and K.M. Wurm and M. Bennewitz and C. Stachniss and W. Burgard},
title = {{OctoMap}: An Efficient Probabilistic 3D Mapping Framework Based on Octrees},
journal = {Autonomous Robots},
volume = {34},
pages = {189--206},
year = 2013,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/hornung13auro.pdf},
issue = {3}
}
@article{maier13ijhr,
author = {D. Maier and C. Stachniss and M. Bennewitz},
title = {Vision-Based Humanoid Navigation Using Self- Supervised Obstacle Detection},
journal = {The Int.~Journal of Humanoid Robotics (IJHR)},
volume = {10},
year = 2013,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/maier13ijhr.pdf},
issue = {2}
}
@article{wurm13auro,
author = {K.M. Wurm and C. Dornhege and B. Nebel and W. Burgard and C. Stachniss},
title = {Coordinating Heterogeneous Teams of Robots using Temporal Symbolic Planning},
journal = {Autonomous Robots},
volume = {34},
year = 2013,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/wurm13auro.pdf},
issue = {4}
}
@phdthesis{steder13phd,
author = {Bastian Steder},
title = {Feature-Based 3D Perception for Mobile Robots},
school = {Albert-Ludwigs-University of Freiburg, Department of Computer Science},
year = 2013,
month = apr,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/steder13phd.pdf},
abstract = {Perception is one of the key topics in robotics
research. It is about the processing of external
sensor data and its interpretation. Strong
perceptual abilities are a basic requirement for a
robot working in an environment that was not
specifically designed for the robot. Such a
surrounding might be completely unknown or may
change over time, so that a model cannot be
provided to the robot a priori. Most people would
only judge a robot to be truly intelligent if it
perceives its environment, understands what is
happening around it and acts accordingly. This is
especially important in mobile robotics. A robot
that moves through an environment and interacts
with it has to know what is going on around it,
where it is, where it can go, and where objects
necessary for its task are located. The topic of
this thesis is the interpretation of low-level
sensor information and its application in high-
level tasks, specifically in the area of mobile
robotics. We mainly focus on 3D perception, meaning
the analysis and interpretation of 3D range scans.
This kind of data provides accurate spatial
information and is typically not dependent on the
light conditions. Spatial information is especially
important for navigation tasks, which, by nature,
are elementary for mobile platforms. To solve
different problems, we extract features from the
sensor data, which can then be used efficiently to
solve the task at hand. The term âfeatureâ is
very broad in this context and means that some
useful information is derived from raw data, which
is easier to interpret than the original input. At
first, we discuss the benefits of point feature
extraction from 3D range scans, meaning the
detection of interesting areas and an efficient
description of the local data. Such point features
are typically employed for similarity measures
between chunks of data. We present an approach for
point feature extraction and then build on it to
create several systems that tackle highly relevant
topics of modern robotics. These include the
detection of known objects in a 3D scan, the
unsupervised creation of object models from a
collection of scans, the representation of an
environment with a small number of surface
primitives, and the ability to find the current
position of a robot based on a single 3D scan and a
database of already known places. All these
problems require an algorithm that detects similar
structures in homogeneous sensor data, i.e., to
find corresponding areas between 3D range scans. In
addition to this, we discuss a system where finding
correspondences between heterogeneous data types is
relevant. Specifically, we search for corresponding
areas in 3D range data and visual images, to
determine the position of a robot in an aerial
image. Finally, we present a complete robotic
system, designed to navigate as a pedestrian in an
urban environment. Such a system is built up from a
multitude of different modules, whereas high
robustness requirements apply to each of them to
ensure the reliability of the entire system. Our
core contribution to this system is a module that
analyzes the low-level sensor data and provides
high-level information to the other modules,
specifically, it performs a traversability analysis
and obstacle detection in 2D and 3D laser data. We
present several innovative algorithms and
techniques that advance the state of the art. We
use them to build systems that enable us to address
complex 3D perception problems, outperforming
existing approaches. We evaluate our methods in
challenging settings, focusing on realistic
applications and using real world data.}
}
@inproceedings{ahmad13icra,
author = {Aamir Ahmad and Gian Diego Tipaldi and Pedro Lima and Wolfram Burgard},
title = {Cooperative Robot Localization and Target Tracking based on Least Square Minimization},
booktitle = {Proceedings of the {IEEE} International Conference on Robotics and Automation ({ICRA})},
year = 2013,
doi = {10.1109/ICRA.2013.6631396},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/ahmad13icra.pdf}
}
@inproceedings{tipaldi13icra,
author = {Tipaldi, Gian Diego and Spinello, Luciano and Burgard, Wolfram},
title = {Geometrical FLIRT Phrases for Large Scale Place Recognition in 2D Range Data},
booktitle = {Proceedings of the {IEEE} International Conference on Robotics and Automation ({ICRA})},
year = 2013,
doi = {10.1109/ICRA.2013.6630947},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/tipaldi13icra.pdf}
}
@article{tipaldi13ijrr,
author = {Tipaldi, G. D. and Meyer-Delius, D. and Burgard, W.},
title = {Lifelong localization in changing environments},
journal = {International Journal of Robotics Research},
volume = {32},
number = {14},
year = 2013,
month = dec,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/tipaldi13ijrr.pdf}
}
@inproceedings{meyerdelius12aaai,
author = {Meyer-Delius, D. and Beinhofer, M. and Burgard, W.},
title = {Occupancy Grid Models for Robot Mapping in Changing Environments},
booktitle = {Proc.~of the AAAI~Conf.~on Artificial Intelligence (AAAI)},
year = 2012,
month = jul,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/meyerdelius12aaai.pdf},
address = {Toronto, Canada}
}
@incollection{grundmann12book,
author = {Grundmann, Thilo and Fiegert, Michael and Burgard, Wolfram},
title = {Rule Set Based Joint State Update},
booktitle = {Towards Service Robots for Everyday Environments},
pages = {301--326},
year = 2012,
publisher = {Springer}
}
@article{grzonka12tro_mvn,
author = {Grzonka, S. and Karwath, A. and Dijoux, F. and Burgard, W.},
title = {Activity-based Indoor Mapping and Estimation of Human Trajectories},
journal = {IEEE Transactions on Robotics (T-RO)},
volume = {8},
number = {1},
pages = {234--245},
year = 2012,
month = mar,
doi = {10.1109/TRO.2011.2165372},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/grzonka12tro_mvn.pdf}
}
@article{grzonka12tro_quad,
author = {Grzonka, S. and Grisetti, G. and Burgard, W.},
title = {A Fully Autonomous Indoor Quadrotor},
journal = {IEEE Transactions on Robotics (T-RO)},
volume = {8},
number = {1},
pages = {90--100},
year = 2012,
month = mar,
doi = {10.1109/TRO.2011.2162999},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/grzonka12tro_quad.pdf}
}
@inproceedings{hess12iros,
author = {J. Hess and D. Tipaldi and W. Burgard},
title = {Null Space Optimization for Effective Coverage of 3D Surfaces using Redundant Manipulators},
booktitle = {Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages = {1923--1928},
year = 2012,
doi = {10.1109/IROS.2012.6385960},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/hess12iros.pdf},
issn = {2153-0858},
address = {Villamoura, Portugal},
abstract = {In this paper we consider the problem of null
space minimization in coverage path planning of 3D
surfaces for redundant manipulators. Existing
coverage solutions only focus on Euclidean cost
functions and often return suboptimal paths with
respect to the joint space. In the approach
described here, we explicitly consider the null
space by treating different inverse kinematics
solutions as individual nodes in a graph and model
the problem as a generalized traveling salesman
problem (GTSP). The GTSP is a generalization of the
TSP where the nodes of the graph are subdivided
into clusters and at least one node in each cluster
needs to be visited. We evaluate our approach using
a PR2 robot and complex objects. Our results
demonstrate that our method outperforms Euclidean
coverage algorithms in terms of manipulation effort
and completion time.}
}
@inproceedings{joho12rss,
author = {Dominik Joho and Gian Diego Tipaldi and Nikolas Engelhard and Cyrill Stachniss and Wolfram Burgard},
title = {Nonparametric {B}ayesian Models for Unsupervised Scene Analysis and Reconstruction},
booktitle = {Proc. of Robotics: Science and Systems {(RSS)}},
year = 2012,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/joho12rss.pdf},
address = {Sydney, Australia}
}
@inproceedings{joho12rssws,
author = {Dominik Joho and Gian Diego Tipaldi and Nikolas Engelhard and Cyrill Stachniss and Wolfram Burgard},
title = {Unsupervised Scene Analysis and Reconstruction Using Nonparametric {B}ayesian Models},
booktitle = {Proc. of the Workshop on Robots in Clutter at Robotics: Science and Systems {(RSS)}},
year = 2012,
address = {Sydney, Australia}
}
@article{kretzschmar12ijrr,
author = {Henrik Kretzschmar and Cyrill Stachniss},
title = {Information-Theoretic Compression of Pose Graphs for Laser-Based SLAM},
journal = {The International Journal of Robotics Research (IJRR)},
volume = {31},
pages = {1219--1230},
year = 2012,
doi = {10.1177/0278364912455072},
url = {http://ijr.sagepub.com/content/31/11/1219},
issue = {11}
}
@inproceedings{kuderer12rss,
author = {Markus Kuderer and Henrik Kretzschmar and Christoph Sprunk and Wolfram Burgard},
title = {Feature-Based Prediction of Trajectories for Socially Compliant Navigation},
booktitle = {Proc.~of Robotics: Science and Systems (RSS)},
year = 2012,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/kuderer12rss.pdf},
address = {Sydney, Australia}
}
@inproceedings{abdo12tampra,
author = {Nichola Abdo and Henrik Kretzschmar and Cyrill Stachniss},
title = {From Low-Level Trajectory Demonstrations to Symbolic Actions for Planning},
booktitle = {Proc.~of the ICAPS Workshop on Combining Task and Motion Planning for Real-World Applications (TAMPRA)},
year = 2012,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/abdo12tampra.pdf},
address = {Atibaia, S\~{a}o Paulo, Brazil}
}
@article{wurm13ras,
author = {Wurm, K. M. and Kretzschmar, H. and K{\"u}mmerle, R. and Stachniss, C. and Burgard, W.},
title = {Identifying Vegetation from Laser Data in Structured Outdoor Environments},
journal = {Robotics and Autonomous Systems},
volume = {},
number = {},
pages = {-},
year = 2012,
doi = {10.1016/j.robot.2012.10.003},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/wurm13ras.pdf},
issn = {0921-8890},
note = {In Press}
}
@article{kuemmerle12ar,
author = {K{\"u}mmerle, R. and Grisetti, G. and Burgard, W.},
title = {Simultaneous Parameter Calibration, Localization, and Mapping},
journal = {Advanced Robotics},
volume = {26},
number = {17},
pages = {2021--2041},
year = 2012,
doi = {10.1080/01691864.2012.728694},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/kuemmerle12ar.pdf},
abstract = {The calibration parameters of a mobile robot play
a substantial role in navigation tasks. Often these
parameters are subject to variations that depend
either on changes in the environment or on the load
of the robot. In this paper, we propose an
approach to simultaneously estimate a map of the
environment, the position of the on-board sensors
of the robot, and its kinematic parameters. Our
method requires no prior knowledge about the
environment and relies only on a rough initial
guess of the parameters of the platform. The
proposed approach estimates the parameters on-line
and it is able to adapt to non-stationary changes
of the configuration. We tested our approach in
simulated environments and on a wide range of real
world data using different types of robotic
platforms.}
}
@inproceedings{grisetti12iros,
author = {Grisetti, G. and K{\"u}mmerle, R. and Ni, K.},
title = {Robust Optimization of Factor Graphs by using Condensed Measurements},
booktitle = {Proc. of the {IEEE/RSJ} Int. Conf. on Intelligent Robots and Systems (IROS)},
year = 2012,
month = oct,
doi = {10.1109/IROS.2012.6385779},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/grisetti12iros.pdf},
address = {Vilamoura, Portugal},
abstract = {Popular problems in robotics and computer vision
like simultaneous localization and mapping (SLAM)
or structure from motion (SfM) require to solve a
least-squares problem that can be effectively
represented by factor graphs. The chance to find
the global minimum of such problems depends on both
the initial guess and the non- linearity of the
sensor models. In this paper we propose an approach
to determine an approximation of the original
problem that has a larger convergence basin. To
this end, we employ a divide-and-conquer approach
that exploits the structure of the factor graph.
Our approach has been validated on real- world and
simulated experiments and is able to succeed in
finding the global minimum in situations where
other state-of-the-art methods fail.}
}
@inproceedings{sturm12iros,
author = {J. Sturm and N. Engelhard and F. Endres and W. Burgard and D. Cremers},
title = {A Benchmark for the Evaluation of {RGB-D SLAM} Systems},
booktitle = {Proc. of the {IEEE/RSJ} Int. Conf. on Intelligent Robots and Systems (IROS)},
year = 2012,
month = oct,
doi = {10.1109/IROS.2012.6385773},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/sturm12iros.pdf},
address = {Vilamoura, Portugal}
}
@inproceedings{endres12robotik,
author = {Felix Endres and Jürgen Hess and Wolfram Burgard},
title = {Graph-Based Action Models for Human Motion Classification},
booktitle = {ROBOTIK},
year = 2012,
month = may,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/endres12robotik.pdf}
}
@article{endres12at,
author = {F. Endres and J. Hess and N. Engelhard and J. Sturm and W. Burgard},
title = {6{D} Visual {SLAM} for {RGB-D} Sensors},
journal = {at - Automatisierungstechnik},
volume = {60},
pages = {270--278},
year = 2012,
month = may,
doi = {10.1524/auto.2012.0993},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/endres12at.pdf}
}
@inproceedings{endres12icra,
author = {F. Endres and J. Hess and N. Engelhard and J. Sturm and D. Cremers and W. Burgard},
title = {An Evaluation of the {RGB-D SLAM} System},
booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics and Automation (ICRA)},
year = 2012,
month = may,
doi = {10.1109/ICRA.2012.6225199},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/endres12icra.pdf},
address = {St. Paul, Minnesota}
}
@inproceedings{ruhnke12icra,
author = {Ruhnke, M. and K{\"u}mmerle, R. and Grisetti, G. and Burgard, W.},
title = {Highly Accurate 3D Surface Models by Sparse Surface Adjustment},
booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics and Automation (ICRA)},
year = 2012,
month = may,
doi = {10.1109/ICRA.2012.6225077},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/ruhnke12icra.pdf},
address = {St. Paul, MN, USA},
abstract = {In this paper, we propose an approach to obtain
highly accurate 3D models from range data. The key
idea of our method is to jointly optimize the poses
of the sensor and the positions of the surface
points measured with a range scanning device. Our
approach applies a physical model of the underlying
range sensor. To solve the optimization task it
employs a state-of-the-art graph-based optimizer
and iteratively refines the structure of the error
function by recomputing the data associations after
each optimization. We present our approach and
evaluate it on data recorded in different real
world environments with a RGBD camera and a laser
range scanner. The experimental results
demonstrate that our method is able to
substantially improve the accuracy of SLAM results
and that it compares favorable over the moving
least squares method.}
}
@inproceedings{sprunk12icra,
author = {C. Sprunk and B. Lau and W. Burgard},
title = {Improved Non-linear Spline Fitting for Teaching Trajectories to Mobile Robots},
booktitle = {Proc. of the IEEE International Conference on Robotics and Automation (ICRA)},
pages = {2068--2073},
year = 2012,
month = may,
doi = {10.1109/ICRA.2012.6224920},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/sprunk12icra.pdf},
address = {St. Paul, MN, USA}
}
@incollection{arras12star,
author = {Kai O. Arras and Boris Lau and Slawomir Grzonka and Matthias Luber and Oscar Martinez Mozos and Daniel Meyer-Delius and Wolfram Burgard},
title = {Range-Based People Detection and Tracking for Socially Enabled Service Robots},
booktitle = {Towards Service Robots for Everyday in Environments},
volume = {76},
pages = {235--280},
year = 2012,
editor = {Erwin Prassler and Rainer Bischoff and Wolfram
Burgard and Robert Haschke and Martin H\"{a}gele
and Gisbert Lawitzky and Bernhard Nebel and Paul
Pl\"{o}ger and Ulrich Reiser and Marius
Z\"{o}llner},
publisher = {Springer},
series = {Springer Tracts in Advanced Robotics (STAR)}
}
@inproceedings{mueller12icra,
author = {M\"{u}ller, J. and Paul, O. and Burgard, W.},
title = {Probabilistic Velocity Estimation for Autonomous Miniature Airships using Thermal Air Flow Sensors},
booktitle = {Proceedings of the IEEE International Conference on Robotics \& Automation (ICRA)},
pages = {39--44},
year = 2012,
month = may,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/mueller12icra.pdf},
address = {Saint Paul, MN, USA}
}
@inproceedings{hoeflinger12i2mtc,
author = {H\"{o}flinger, F. and M\"{u}ller, J. and T\"{o}rk, M. and Reindl, L.M. and Burgard, W.},
title = {A Wireless Micro Inertial Measurement Unit ({IMU})},
booktitle = {Proceedings of the IEEE International Instrumentation and Measurement Technology Conference (I2MTC)},
pages = {2578--2583},
year = 2012,
month = may,
doi = {10.1109/I2MTC.2012.6229271},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/hoeflinger12i2mtc.pdf},
address = {Graz, Austria}
}
@inproceedings{wendeberg12ipin,
author = {Wendeberg, J. and M\"{u}ller, J. and Schindelhauer, C. and Burgard, W.},
title = {Robust Tracking of a Mobile Beacon using Time Differences of Arrival with Simultaneous Calibration of Receiver Positions},
booktitle = {Proceedings of the International Conference on Indoor Positioning and Indoor Navigation (IPIN)},
year = 2012,
month = nov,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/wendeberg12ipin.pdf},
address = {Sydney, Australia}
}
@inproceedings{demeester12icscs,
author = {E. Demeester and E. Vander Poorten and A. Hüntemann and J. De Schutter and M. Hofmann and M. Rooker and G. Kronreif and B. Lau and M. Kuderer and W. Burgard and A . Gelin, K. Vanopdenbosch and P. Van der Beeten and M. Vereecken and S. Ilsbroukx and A. Fossati and G. Roig and X. Boix and L. Van Gool and H. Fraeyman and L. Broucke and H. Goessaert and J. Josten},
title = {Robotic ADaptation to Humans Adapting to Robots: Overview of the FP7 project RADHAR},
booktitle = {International Conference on Systems and Computer Science (ICSCS)},
year = 2012,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/demeester12icscs.pdf}
}
@inproceedings{roewekaemper12iros,
author = {J. Roewekaemper and C. Sprunk and G.D. Tipaldi and C. Stachniss and P. Pfaff and W. Burgard},
title = {On the Position Accuracy of Mobile Robot Localization based on Particle Filters combined with Scan Matching},
booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages = {3158--3164},
year = 2012,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/roewekaemper12iros.pdf},
address = {Villamoura, Portugal}
}
@article{stachniss12fnt,
author = {C. Stachniss and W. Burgard},
title = {Particle Filters for Robot Navigation},
journal = {Foundations and Trends in Robotics},
volume = {3},
number = {4},
pages = {211--282},
year = 2012,
doi = {10.1561/2300000013},
note = {Published 2014}
}
@book{sc12proceedings,
title = {Spatial Cognition VIII},
year = 2012,
month = aug,
editor = {C. Stachniss and K. Schill and D. Uttal},
publisher = {Springer}
}
@inproceedings{grisetti12rich,
author = {G. Grisetti and L. Iocchi and B. Leibe and V.A. Ziparo and C. Stachniss},
title = {Digitization of Inaccessible Archeological Sites with Autonomous Mobile Robots},
booktitle = {Conf.~on Robotics Innovation for Cultural Heritage},
year = 2012,
notes = {Extended abstract}
}
@inproceedings{spinello12rssws,
author = {L. Spinello and C. Stachniss and W. Burgard},
title = {Scene in the Loop: Towards Adaptation-by- Tracking in RGB-D Data},
booktitle = {Proc.~of the RSS Workshop RGB-D: Advanced Reasoning with Depth Cameras},
year = 2012,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/spinello12rssws.pdf}
}
@article{ruhnke12desire,
author = {Ruhnke, M. and Steder, B. and Grisetti, G. and Burgard, W.},
title = {{3D} Environment Modeling Based on Surface Primitives},
journal = {Towards Service Robots for Everyday Environments},
pages = {281--300},
year = 2012,
abstract = {In this chapter we describe an algorithm for
constructing a compact representation of 3D laser
range data. Our approach extracts a dictionary of
local scans from the scene. The words of this
dictionary are used to replace recurrent local 3D
structures, which leads to a substantial
compression of the entire point cloud. We optimize
our model in terms of complexity and accuracy by
minimizing the Bayesian information criterion
(BIC). Experimental evaluations on large real-world
datasets show that the described method allows
robots to accurately reconstruct en- vironments
with as few as 70 words. Furthermore the
experiments suggest that the proposed
representation gives a richer semantic description
than pure occupancy based representations.},
publisher = {Springer Berlin/Heidelberg}
}
@inproceedings{tipaldi12rssws,
author = {Tipaldi, G. D. and Meyer-Delius, D. and Beinhofer, M. and Burgard, W.},
title = {Lifelong Localization and Dynamic Map Estimation in Changing Environments},
booktitle = {RSS Workshop on Robots in Clutter: Manipulation, Perception and Navigation in Human Environments},
year = 2012
}
@phdthesis{wurm12phd,
author = {Kai M.~Wurm},
title = {Techniques for Multi-Robot Coordination and Navigation},
school = {Albert-Ludwigs-University of Freiburg, Department of Computer Science},
year = 2012,
month = oct,
url = {http://www.freidok.uni-freiburg.de/volltexte/8774}
}
@inproceedings{cunningham12icra,
author = {A. Cunningham and K.M. Wurm and W. Burgard and F. Dellaert},
title = {Fully Distributed Scalable Smoothing and Mapping with Robust Multi-robot Data Association},
booktitle = {Proc.~of the IEEE/RSJ International Conference on Robotics \& Automation (ICRA)},
year = 2012,
doi = {10.1109/ICRA.2012.6225356},
address = {Saint Paul, MN, USA}
}
@inproceedings{beinhofer11ecmr,
author = {Beinhofer, M. and M{\"u}ller, J. and Burgard, W.},
title = {Landmark Placement for Accurate Mobile Robot Navigation},
booktitle = {Proc.~of the European~Conf.~on Mobile Robots (ECMR)},
pages = {55--60},
year = 2011,
month = sep,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/beinhofer11ecmr.pdf},
address = {{\"O}rebro, Sweden}
}
@inproceedings{tipaldi11irosWS,
author = {Tipaldi, G. and Meyer-Delius, D. and Beinhofer, M. and Burgard, W.},
title = {Simultaneous Localization and Dynamic State Estimation in Reconfigurable Environments},
booktitle = {Proc.~of the IEEE/RSJ IROS Workshop on Metrics and Methodologies for Autonomous Robot Teams in Logistics (MMART-LoG)},
year = 2011,
month = oct,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/tipaldi11irosWS.pdf},
address = {San Francisco, USA}
}
@techreport{meyerdelius11alufr,
author = {Meyer-Delius, D. and Beinhofer, M. and Burgard, W.},
title = {Grid-Based Models for Dynamic Environments},
year = 2011,
month = jul,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/report00265.pdf},
institution = {Dept.~of Computer Science, University of
Freiburg}
}
@inproceedings{beinhofer11icra,
author = {Beinhofer, M. and M{\"u}ller, J. and Burgard, W.},
title = {Near-optimal Landmark Selection for Mobile Robot Navigation},
booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics and Automation (ICRA)},
pages = {4744--4749},
year = 2011,
month = may,
doi = {10.1109/ICRA.2011.5979871},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/beinhofer11icra.pdf},
address = {Shanghai, China}
}
@inproceedings{meyerdelius11icra,
author = {Meyer-Delius, D. and Beinhofer, M. and Kleiner, A. and Burgard, W.},
title = {Using Artificial Landmarks to Reduce the Ambiguity in the Environment of a Mobile Robot},
booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics and Automation (ICRA)},
pages = {5173--5178},
year = 2011,
month = may,
doi = {10.1109/ICRA.2011.5980111},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/meyerdelius11icra.pdf},
address = {Shanghai, China}
}
@phdthesis{grzonkaPhd,
author = {Grzonka, Slawomir},
title = {Mapping, State Estimation, and Navigation for Quadrotors and Human-Worn Sensor Systems},
school = {Albert-Ludwigs-University of Freiburg},
year = 2011,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/grzonkaPhd.pdf}
}
@inproceedings{grzonka11rssws,
author = {Grzonka, S. and Steder, B. and Burgard, W.},
title = {3D Place Recognition and Object Detection using a Small-sized Quadrotor},
booktitle = {Workshop on 3D Exploration, Mapping, and Surveillance with Aerial Robots at Robotics: Science and Systems (RSS)},
year = 2011,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/grzonka11rssws.pdf}
}
@article{bouabdallah10irs,
author = {Bouabdallah, S. and Bermes, C. and Grzonka, S. and Gimkiewicz, C. and Brenzikofer, A. and Hahn, R. and Schafroth, D. and Grisetti, G. and Burgard, W. and Siegwart, R.},
title = {Towards Palm-Size Autonomous Helicopters},
journal = {Journal of Intelligent \& Robotic Systems},
volume = {61},
pages = {1--27},
year = 2011,
issue = {1-4}
}
@article{joho11ras,
author = {Dominik Joho and Martin Senk and Wolfram Burgard},
title = {Learning Search Heuristics for Finding Objects in Structured Environments},
journal = {Robotics and Autonomous Systems},
volume = {59},
number = {5},
pages = {319--328},
year = 2011,
month = may,
doi = {10.1016/j.robot.2011.02.012},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/joho11ras.pdf},
issn = {0921-8890}
}
@inproceedings{stachniss11isrr,
author = {Cyrill Stachniss and Henrik Kretzschmar},
title = {Pose Graph Compression for Laser-Based {SLAM}},
booktitle = {Proc.~of the International Symposium of Robotics Research (ISRR)},
year = 2011,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/stachniss11isrr.pdf},
address = {Flagstaff, AZ, USA},
note = {Invited presentation.}
}
@inproceedings{ziegler11iros,
author = {Jakob Ziegler and Henrik Kretzschmar and Cyrill Stachniss and Giorgio Grisetti and Wolfram Burgard},
title = {Accurate Human Motion Capture in Large Areas by Combining {IMU}- and Laser-Based People Tracking},
booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages = {86--91},
year = 2011,
doi = {10.1109/IROS.2011.6094430},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/ziegler11iros.pdf},
address = {San Francisco, CA, USA}
}
@inproceedings{kretzschmar11iros,
author = {Henrik Kretzschmar and Cyrill Stachniss and Giorgio Grisetti},
title = {Efficient Information-Theoretic Graph Pruning for Graph-Based {SLAM} with Laser Range Finders},
booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages = {865--871},
year = 2011,
doi = {10.1109/IROS.2011.6094414},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/kretzschmar11iros.pdf},
address = {San Francisco, CA, USA}
}
@inproceedings{kuemmerle11arso,
author = {K{\"u}mmerle, R. and Grisetti, G. and Stachniss, C. and Burgard, W.},
title = {Simultaneous Parameter Calibration, Localization, and Mapping for Robust Service Robotics},
booktitle = {Proc. of the IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO)},
year = 2011,
month = oct,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/kuemmerle11arso.pdf},
address = {Half Moon Bay, CA, USA},
abstract = {Modern service robots are designed to be deployed
by end-users and not to be monitored by experts
during operation. Most service robotics
applications require reliable navigation
capabilities of the robot. The calibration
parameters of a mobile robot play a substantial
role in navigation tasks. Often these parameters
are subject to variations that depend either on
environmental changes or on the wear of the
devices. In this paper, we propose an approach to
simultaneously estimate a map of the environment,
the position of the on-board sensors of the robot,
and its kinematic parameters. Our method requires
no prior knowledge about the environment and relies
only on a rough initial guess of the platform
parameters. The proposed approach performs on-line
estimation of the parameters and it is able to
adapt to non-stationary changes of the
configuration. Our approach has been implemented
and is used on the EUROPA robot, a service robot
operating in urban environments. In addition to
that, we tested our approach in simulated
environments and on a wide range of real world data
using different types of robotic platforms.}
}
@inproceedings{ruhnke11arso,
author = {Ruhnke, M. and K{\"u}mmerle, R. and Grisetti, G. and Burgard, W.},
title = {Range Sensor Based Model Construction by Sparse Surface Adjustment},
booktitle = {Proc. of the IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO)},
year = 2011,
month = oct,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/ruhnke11arso.pdf},
address = {Half Moon Bay, CA, USA},
abstract = {In this paper, we propose an approach to construct
highly accurate 3D object models from range data.
The main advantage of sensor based model
acquisition compared to manual CAD model
construction is the short time needed per object.
The usual drawbacks of sensor based model
reconstruction are sensor noise and errors in the
sensor positions which typically lead to less
accurate models. Our method drastically reduces
this problem by applying a physical model of the
underlying range sensor and utilizing a graph-based
optimization technique. We present our approach
and evaluate it on data recorded in different real
world environments with an RGBD camera and a laser
range scanner. The experimental results
demonstrate that our method provides more accurate
maps than standard SLAM methods and that it
additionally compares favorable over the moving
least squares method.}
}
@inproceedings{kuemmerle11iros,
author = {K{\"u}mmerle, R. and Grisetti, G. and Burgard, W.},
title = {Simultaneous Calibration, Localization, and Mapping},
booktitle = {Proc. of the {IEEE/RSJ} Int. Conf. on Intelligent Robots and Systems (IROS)},
year = 2011,
month = sep,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/kuemmerle11iros.pdf},
address = {San Francisco, CA, USA},
abstract = {The calibration parameters of a mobile robot play
a substantial role in navigation tasks. Often these
parameters are subject to variations that depend
either on environmental changes or on the wear of
the devices. In this paper, we propose an approach
to simultaneously estimate a map of the
environment, the position of the on-board sensors
of the robot, and its kinematic parameters. Our
method requires no prior knowledge about the
environment and relies only on a rough initial
guess of the platform parameters. The proposed
approach performs on-line estimation of the
parameters and it is able to adapt to non-
stationary changes of the configuration. We tested
our approach in simulated environments and on a
wide range of real world data using different types
of robotic platforms.}
}
@inproceedings{kuemmerle11icra,
author = {K{\"u}mmerle, R. and Grisetti, G. and Strasdat, H. and Konolige, K. and Burgard, W.},
title = {g2o: A General Framework for Graph Optimization},
booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics and Automation (ICRA)},
year = 2011,
month = may,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/kuemmerle11icra.pdf},
downloads = {http://openslam.org/g2o_Open_source_implementation_(stable); https://github.com/RainerKuemmerle/g2o_Open_source_implementation_(devel)},
downloads = {http://openslam.org/g2o_Open_source_implementation_(stable); https://github.com/RainerKuemmerle/g2o_Open_source_implementation_(devel)},
address = {Shanghai, China},
abstract = {Many popular problems in robotics and computer
vision including various types of simultaneous
localization and mapping (SLAM) or bundle
adjustment (BA) can be phrased as least squares
optimization of an error function that can be
represented by a graph. This paper describes the
general structure of such problems and presents
g2o, an open-source C++ framework for optimizing
graph-based nonlinear error functions. Our system
has been designed to be easily extensible to a wide
range of problems and a new problem typically can
be specified in a few lines of code. The current
implementation provides solutions to several
variants of SLAM and BA. We provide evaluations on
a wide range of real-world and simulated datasets.
The results demonstrate that while being general
g2o offers a performance comparable to
implementations of state-of-the-art approaches for
the specific problems.}
}
@inproceedings{ruhnke11icra,
author = {Ruhnke, M. and K{\"u}mmerle, R. and Grisetti, G. and Burgard, W.},
title = {Highly Accurate Maximum Likelihood Laser Mapping by Jointly Optimizing Laser Points and Robot Poses},
booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics and Automation (ICRA)},
year = 2011,
month = may,
doi = {10.1109/ICRA.2011.5980220},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/ruhnke11icra.pdf},
address = {Shanghai, China},
abstract = {In this paper we describe an algorithm for
learning highly accurate laser-based maps that
treats the overall mapping problem as a joint
optimization problem over robot poses and laser
points. We assume that a laser range finder senses
points sampled from a regular surface and we
utilize an improved likelihood function that
accounts for two phenomena affecting the laser
measurements that are often neglected: the conic
shape of the laser beam and the incidence angle.
To solve the entire problem we apply an
optimization procedure that jointly adjusts the
position of all the robot poses and all points in
the scans. As a result, we obtain highly accurate
maps. We evaluated our approach using simulated and
real-world data and we show that utilizing the
estimated maps greatly improves the localization
accuracy of robots. The results furthermore
suggest that the accuracy of the resulting map can
exceed the resolution of the laser sensors used.}
}
@article{kuemmerle11auro,
author = {R. K\"ummerle and B. Steder and C. Dornhege and A. Kleiner and G. Grisetti and W. Burgard},
title = {Large Scale Graph-based {SLAM} using Aerial Images as Prior Information},
journal = {Journal of Autonomous Robots},
volume = {30},
number = {1},
pages = {25--39},
year = 2011,
doi = {10.1007/s10514-010-9204-1},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/kuemmerle11auro.pdf},
downloads = {http://dx.doi.org/10.1007/s10514-010-9204-1_Online_Version},
downloads = {http://dx.doi.org/10.1007/s10514-010-9204-1_Online_Version},
abstract = {The problem of learning a map with a mobile robot
has been intensively studied in the past and is
usually referred to as the simultaneous
localization and mapping (SLAM) problem. However,
most existing solutions to the SLAM problem learn
the maps from scratch and have no means for
incorporating prior information. In this paper, we
present a novel SLAM approach that achieves global
consistency by utilizing publicly accessible aerial
photographs as prior information. It inserts
correspondences found between stereo and three-
dimensional range data and the aerial images as
constraints into a graph-based formulation of the
SLAM problem. We evaluate our algorithm based on
large real-world datasets acquired even in mixed
in- and outdoor environments by comparing the
global accuracy with state-of-the-art SLAM
approaches and GPS. The experimental results
demonstrate that the maps acquired with our method
show increased global consistency.}
}
@inproceedings{lau11ecmr,
author = {Boris Lau and Christoph Sprunk and Wolfram Burgard},
title = {Incremental Updates of Configuration Space Representations for Non-Circular Mobile Robots with 2D, 2.5D, or 3D Obstacle Models},
booktitle = {European Conference on Mobile Robots (ECMR)},
pages = {49--54},
year = 2011,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/lau11ecmr.pdf},
address = {\"{O}rebro, Sweden}
}
@inproceedings{sauer11iolts,
author = {Sauer, M. and Tomashevich, V. and M\"{u}ller, J. and Lewis, M. and Spilla, A. and Polian, I. and Becker, B. and Burgard, W.},
title = {An {FPGA}-Based Framework for Run-time Injection and Analysis of Soft Errors in Microprocessors},
booktitle = {Proceedings of the IEEE International On-Line Testing Symposium (IOLTS)},
pages = {182--185},
year = 2011,
month = jul,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/sauer11iolts.pdf},
address = {Athens, Greece}
}
@inproceedings{spilla11tuz,
author = {Spilla, A. and Polian, I. and M\"{u}ller, J. and Lewis, M. and Tomashevich, V. and Becker, B. and Burgard, W.},
title = {Run-time Soft Error Injection and Testing of a Microprocessor using {FPGAs}.},
booktitle = {Proceedings of the Workshop Testmethoden und Zuverlässigkeit von Schaltungen und Systemen (TUZ)},
year = 2011,
month = feb,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/spilla11tuz.pdf},
address = {Passau, Germany}
}
@inproceedings{mueller11iros,
author = {M\"{u}ller, J. and Kohler, N. and Burgard, W.},
title = {Autonomous Miniature Blimp Navigation with Online Motion Planning and Re-planning},
booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages = {4941--4946},
year = 2011,
month = sep,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/mueller11iros.pdf},
address = {San Francisco, CA, USA}
}
@inproceedings{steder11iros,
author = {Steder, B. and Ruhnke, M. and Grzonka, S. and Burgard, W.},
title = {Place Recognition in 3D Scans Using a Combination of Bag of Words and Point Feature based Relative Pose Estimation},
booktitle = {Proc.~of the Int.~Conf.~on Intelligent Robots and Systems (IROS)},
year = 2011,
doi = {10.1109/IROS.2011.6094638},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/steder11iros.pdf},
abstract = {Place recognition, i.e., the ability to recognize
previously seen parts of the environment, is one of
the fundamental tasks in mobile robotics. The wide
range of applications of place recognition includes
localization (determine the initial pose), SLAM
(detect loop closures), and change detection in
dynamic environments. In the past, only relatively
little work has been carried out to attack this
problem using 3D range data and the majority of
approaches focuses on detecting similar structures
without estimating relative poses. In this paper,
we present an algorithm based on 3D range data that
is able to reliably detect previously seen parts of
the environment and at the same time calculates an
accurate transformation between the corresponding
scan-pairs. Our system uses the estimated
transformation to evaluate a candidate and in this
way to more robustly reject false positives for
place recognition. We present an extensive set of
experiments using publicly available datasets in
which we compare our system to other state-of-the-
art approaches.}
}
@inproceedings{sprunk11icra,
author = {C. Sprunk and B. Lau and P. Pfaff and W. Burgard},
title = {Online Generation of Kinodynamic Trajectories for Non-Circular Omnidirectional Robots},
booktitle = {Proc. of the IEEE International Conference on Robotics and Automation (ICRA)},
pages = {72--77},
year = 2011,
month = may,
doi = {10.1109/ICRA.2011.5980146},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/sprunk11icra.pdf},
address = {Shanghai, China}
}
@article{sturm11jair,
author = {J. Sturm and C. Stachniss and W. Burgard},
title = {A Probabilistic Framework for Learning Kinematic Models of Articulated Objects},
journal = {Journal on Artificial Intelligence Research},
volume = {41},
pages = {477--526},
year = 2011,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/sturm11jair.pdf}
}
@inproceedings{bennewitz11humanoids,
author = {M. Bennewitz and D. Maier and A. Hornung and C. Stachniss},
title = {Integrated Perception and Navigation in Complex Indoor Environments},
booktitle = {Proc.~of the IEEE-RAS Int.~Conf.~on Humanoid Robots (HUMANOIDS)},
year = 2011,
note = {Invited presentation at the workshop on Humanoid
service robot navigation in crowded and dynamic
environments}
}
@inproceedings{becker11irosws,
author = {J. Becker and C. Bersch and D. Pangercic and B. Pitzer and T. R\"uhr and B. Sankaran and J. Sturm and C. Stachniss and M. Beetz and W. Burgard},
title = {Mobile Manipulation of Kitchen Containers},
booktitle = {Proc.~of the IROS'11 Workshop on Results, Challenges and Lessons Learned in Advancing Robots with a Common Platform},
year = 2011,
doi = {10.1109/ICRA.2011.5980259},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/becker11irosws.pdf},
address = {San Francisco, CA, USA}
}
@inproceedings{wurm11iros,
author = {K.M. Wurm and D. Hennes and D. Holz and R.B. Rusu and C. Stachniss and K. Konolige and W. Burgard},
title = {Hierarchies of Octrees for Efficient 3D Mapping},
booktitle = {Proc.~of the IEEE/RSJ Int.~Conf.~on Intelligent Robots and Systems (IROS)},
year = 2011,
month = sep,
doi = {10.1109/IROS.2011.6094571},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/wurm11iros.pdf},
address = {San Francisco, CA, USA}
}
@inproceedings{frank11iros,
author = {B. Frank and C. Stachniss and N. Abdo and W. Burgard},
title = {Efficient Motion Planning for Manipulation Robots in Environments with Deformable Objects},
booktitle = {Proc.~of the IEEE/RSJ Int.~Conf.~on Intelligent Robots and Systems (IROS)},
year = 2011,
doi = {10.1109/IROS.2011.6094946},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/frank11iros.pdf},
address = {San Francisco, CA, USA}
}
@inproceedings{frank11pamr,
author = {B. Frank and C. Stachniss and N. Abdo and W. Burgard},
title = {Using Gaussian Process Regression for Efficient Motion Planning in Environments with Deformable Objects},
booktitle = {Proc. of the AAAI-11 Workshop on Automated Action Planning for Autonomous Mobile Robots (PAMR)},
year = 2011,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/frank11pamr.pdf},
address = {San Francisco, CA, USA}
}
@inproceedings{maier11icra,
author = {D. Maier and M. Bennewitz and C. Stachniss},
title = {Self-supervised Obstacle Detection for Humanoid Navigation Using Monocular Vision and Sparse Laser Data},
booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
year = 2011,
doi = {10.1109/ICRA.2011.5979661},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/maier11icra.pdf},
address = {Shanghai, China}
}
@inbook{asadi11gasbook,
author = {S. Asadi and M. Reggente and C. Stachniss and C. Plagemann and A.J. Lilienthal},
title = {Intelligent Systems for Machine Olfaction: Tools and Methodologies},
pages = {153--179},
year = 2011,
editor = {E.L. Hines and M.S. Leeson},
chapter = {Statistical Gas Distribution Modelling using
Kernel Methods},
publisher = {{IGI} {G}lobal}
}
@inproceedings{steder11icra,
author = {B. Steder and R. B. Rusu and K. Konolige and W. Burgard},
title = {Point Feature Extraction on {3D} Range Scans Taking into Account Object Boundaries},
booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
year = 2011,
doi = {10.1109/ICRA.2011.5980187},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/steder11icra.pdf},
abstract = {In this paper we address the topic of feature
extraction in 3D point cloud data for object
recognition and pose identification. We present a
novel interest keypoint extraction method that
operates on range images generated from arbitrary
3D point clouds, which explicitly considers the
borders of the objects identified by transitions
from foreground to background. We furthermore
present a feature descriptor that takes the same
information into account. We have implemented our
approach and present rigorous experiments in which
we analyze the individual components with respect
to their repeatability and matching capabilities
and evaluate the usefulness for point feature based
object detection methods.}
}
@inproceedings{grundmann10iros,
author = {Grundmann, Thilo and Fiegert, Michael and Burgard, Wolfram},
title = {Probabilistic rule set joint state update as approximation to the full joint state estimation applied to multi object scene analysis},
booktitle = {Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages = {2047--2052},
year = 2010,
doi = {10.1109/IROS.2010.5650433}
}
@inproceedings{bouabdallah10uav,
author = {Bouabdallah, S. and Bermes, C. and Grzonka, S. and Gimkiewicz, C. and Brenzikofer, A. and Hahn, R. and Schafroth, D. and Grisetti, G. and Burgard, W. and Siegwart, R.},
title = {Towards Palm-Size Autonomous Helicopters},
booktitle = {International Conference and Exhibition on Unmanned Areal Vehicles (UAV)},
year = 2010,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/bouabdallah10uav.pdf}
}
@inproceedings{grzonka10icra,
author = {Grzonka, S. and Dijoux, F. and Karwath, A. and Burgard, W.},
title = {Mapping Indoor Environments Based on Human Activity},
booktitle = {Proc. IEEE International Conference on Robotics and Automation (ICRA)},
year = 2010,
doi = {10.1109/ROBOT.2010.5509976},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/grzonka10icra.pdf},
address = {Anchorage, Ak, USA}
}
@inproceedings{joho10icra,
author = {Dominik Joho and Wolfram Burgard},
title = {Searching for Objects: Combining Multiple Cues To Object Locations Using a Maximum Entropy Model},
booktitle = {Proceedings of the {IEEE} International Conference on Robotics and Automation {(ICRA)}},
pages = {723--728},
year = 2010,
month = may,
doi = {10.1109/ROBOT.2010.5509285},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/joho10icra.pdf},
issn = {1050-4729},
address = {Anchorage, AK, USA},
isbn = {978-1-4244-5038-1}
}
@article{kretzschmar10ki,
author = {Henrik Kretzschmar and Giorgio Grisetti and Cyrill Stachniss},
title = {Lifelong Map Learning for Graph-based {SLAM} in Static Environments},
journal = {{KI} -- {K}\"unstliche {I}ntelligenz},
volume = {24},
pages = {199--206},
year = 2010,
doi = {10.1007/s13218-010-0034-2},
issue = {3}
}
@article{grisetti10titsmag,
author = {G. Grisetti and R. K{\"u}mmerle and C. Stachniss and W. Burgard},
title = {A Tutorial on Graph-Based {SLAM}},
journal = {Intelligent Transportation Systems Magazine, IEEE},
volume = {2},
number = {4},
pages = {31--43},
year = 2010,
doi = {10.1109/MITS.2010.939925},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/grisetti10titsmag.pdf},
downloads = {http://dx.doi.org/10.1109/MITS.2010.939925_Online_Version},
downloads = {http://dx.doi.org/10.1109/MITS.2010.939925_Online_Version},
issue = {4},
abstract = {Being able to build a map of the environment and
to simultaneously localize within this map is an
essential skill for mobile robots navigating in
unknown environments in absence of external
referencing systems such as GPS. This so-called
simultaneous localization and mapping (SLAM)
problem has been one of the most popular research
topics in mobile robotics for the last two decades
and efficient approaches for solving this task have
been proposed. One intuitive way of formulating
SLAM is to use a graph whose nodes correspond to
the poses of the robot at different points in time
and whose edges represent constraints between the
poses. The latter are obtained from observations of
the environment or from movement actions carried
out by the robot. Once such a graph is constructed,
the map can be computed by finding the spatial
configuration of the nodes that is mostly
consistent with the measurements modeled by the
edges. In this paper, we provide an introductory
description to the graph- based SLAM problem.
Furthermore, we discuss a state- of-the-art
solution that is based on least-squares error
minimization and exploits the structure of the SLAM
problems during optimization. The goal of this
tutorial is to enable the reader to implement the
proposed methods from scratch.}
}
@inproceedings{konolige10iros,
author = {K. Konolige and G. Grisetti and R. K{\"u}mmerle and W. Burgard and B. Limketkai and R. Vincent},
title = {Efficient Sparse Pose Adjustment for 2D Mapping},
booktitle = {Proc. of the {IEEE/RSJ} Int. Conf. on Intelligent Robots and Systems (IROS)},
year = 2010,
month = oct,
doi = {10.1109/IROS.2010.5649043},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/konolige10iros.pdf},
downloads = {http://www.ros.org/research/2010/spa/_2D_Data_sets; http://ais.informatik.uni-freiburg.de/~kuemmerl/data/spa-iros.mp4_Movie_(6.6_MB)},
downloads = {http://www.ros.org/research/2010/spa/_2D_Data_sets; http://ais.informatik.uni-freiburg.de/~kuemmerl/data/spa-iros.mp4_Movie_(6.6_MB)},
address = {Taipei, Taiwan},
abstract = {Pose graphs have become a popular representation
for solving the simultaneous localization and
mapping (SLAM) problem. A pose graph is a set of
robot poses connected by nonlinear constraints
obtained from observations of features common to
nearby poses. Optimizing large pose graphs has been
a bottleneck for mobile robots, since the
computation time of direct nonlinear optimization
can grow cubically with the size of the graph. In
this paper, we propose an efficient method for
constructing and solving the linear subproblem,
which is the bottleneck of these direct methods. We
compare our method, called Sparse Pose Adjustment
(SPA), with competing indirect methods, and show
that it outperforms them in terms of convergence
speed and accuracy. We demonstrate its
effectiveness on a large set of indoor real-world
maps, and a very large simulated dataset. Open-
source implementations in C++, and the datasets,
are publicly available.}
}
@inproceedings{grisetti10icra,
author = {G. Grisetti and R. K{\"u}mmerle and C. Stachniss and U. Frese and C. Hertzberg},
title = {Hierarchical Optimization on Manifolds for Online 2D and 3D Mapping},
booktitle = {Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA)},
year = 2010,
month = may,
doi = {10.1109/ROBOT.2010.5509407},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/grisetti10icra.pdf},
downloads = {http://www.openslam.org/hog-man.html_Open_source_implementation_-_HOG-Man},
downloads = {http://www.openslam.org/hog-man.html_Open_source_implementation_-_HOG-Man},
address = {Anchorage, AK, USA},
abstract = {In this paper, we present a new hierarchical
optimization solution to the graph-based
simultaneous localization and mapping (SLAM)
problem. During online mapping, the approach
corrects only the coarse structure of the scene and
not the overall map. In this way, only updates for
the parts of the map that need to be considered for
making data associations are carried out. The
hierarchical approach provides accurate non-linear
map estimates while being highly efficient. Our
error minimization approach exploits the manifold
structure of the underlying space. In this way, it
avoids singularities in the state space
parameterization. The overall approach is
accurate, efficient, designed for online operation,
overcomes singularities, provides a hierarchical
representation, and outperforms a series of state-
of-the-art methods.}
}
@article{lau10ijsr,
author = {Boris Lau and Kai O. Arras and Wolfram Burgard},
title = {Multi-model Hypothesis Group Tracking and Group Size Estimation},
journal = {International Journal of Social Robotics, Springer},
volume = {2},
number = {1},
pages = {19--30},
year = 2010,
url = {http://www.springerlink.com/content/gq863gk53135u1p4/}
}
@inproceedings{lau10iros,
author = {Boris Lau and Christoph Sprunk and Wolfram Burgard},
title = {Improved Updating of Euclidean Distance Maps and {Voronoi} Diagrams},
booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems},
year = 2010,
doi = {10.1109/IROS.2010.5650794},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/lau10iros.pdf},
address = {Taipei, Taiwan}
}
@inproceedings{mueller10icra,
author = {M\"{u}ller, J. and Gonsior, C. and Burgard, W.},
title = {Improved {M}onte {C}arlo Localization of Autonomous Robots through Simultaneous Estimation of Motion Model Parameters},
booktitle = {Proceedings of the IEEE International Conference on Robotics \& Automation (ICRA)},
pages = {2604--2609},
year = 2010,
month = may,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/mueller10icra.pdf},
address = {Anchorage, AK, USA}
}
@article{cornils10,
author = {Cornils, M. and Rottmann, A. and Paul, O.},
title = {How to Extract the Sheet Resistance and Hall Mobility From Arbitrarily Shaped Planar Four- Terminal Devices With Extended Contacts},
journal = {IEEE Transactions on Electron Devices},
volume = {57},
number = {9},
pages = {2087--2097},
year = 2010
}
@inproceedings{rottmann10dagm,
author = {Rottmann, A. and Burgard, W.},
title = {Learning Non-stationary System Dynamics Online Using {G}aussian Processes},
booktitle = {Proc.~of the German Association for Pattern Recognition (DAGM)},
pages = {192--201},
year = 2010
}
@inproceedings{schopp10sensors,
author = {Schopp, P. and Rottmann, A. and Klingbeil, L. and Burgard, W. and Manoli, Y.},
title = {Gaussian Process Based State Estimation for a Gyroscope-Free IMU},
booktitle = {Proc.~ of the IEEE Sensors Conference},
pages = {873--878},
year = 2010
}
@inproceedings{ruhnke10iros,
author = {Ruhnke, M. and Steder, B. and Grisetti, G. and Burgard, W},
title = {Unsupervised Learning of Compact 3D Models Based on the Detection of Recurrent Structures},
booktitle = {Proc.~of the Int.~Conf.~on Intelligent Robots and Systems (IROS)},
year = 2010,
month = oct,
doi = {10.1109/IROS.2010.5649730},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/ruhnke10iros.pdf},
address = {Taipei, Taiwan},
abstract = {In this paper we describe a novel algorithm for
constructing a compact representation of 3D laser
range data. Our approach extracts an alphabet of
local scans from the scene. The words of this
alphabet are used to replace recurrent local 3D
structures and which leads to a substantial
compression of the entire point cloud. We optimize
our model in terms of complexity and accuracy by
minimizing the Bayesian information criterion
(BIC). Experimental evaluations on large real-world
data show that our method allows robots to
accurately reconstruct environments with as few as
70 words.}
}
@inproceedings{burgard10irosws,
author = {Burgard, W. and Wurm, K.M. and Bennewitz, M. and Stachniss, C. and Hornung, A. and Rusu, R.B. and Konolige, K.},
title = {Modeling the World Around Us: An Efficient 3D Representation for Personal Robotics},
booktitle = {Workshop on Defining and Solving Realistic Perception Problems in Personal Robotics at the IEEE/RSJ Int.~Conf.~on Intelligent Robots and Systems},
year = 2010,
address = {Taipei, Taiwan}
}
@inproceedings{wurm10iros,
author = {K.M. Wurm and C. Dornhege and P. Eyerich and C. Stachniss and B. Nebel and W. Burgard},
title = {Coordinated Exploration with Marsupial Teams of Robots using Temporal Symbolic Planning},
booktitle = {Proc.~of the IEEE/RSJ Int.~Conf.~on Intelligent Robots and Systems (IROS)},
year = 2010,
month = oct,
doi = {10.1109/IROS.2010.5649820},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/wurm10iros.pdf},
address = {Taipei, Taiwan}
}
@inproceedings{sturm10iros,
author = {J. Sturm and A. Jain and C. Stachniss and C.C. Kemp and W. Burgard},
title = {Robustly Operating Articulated Objects based on Experience},
booktitle = {Proc.~of the IEEE/RSJ Int.~Conf.~on Intelligent Robots and Systems (IROS)},
year = 2010,
doi = {10.1109/IROS.2010.5653813},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/sturm10iros.pdf},
address = {Taipei, Taiwan}
}
@inproceedings{frank10iros,
author = {B. Frank and R. Schmedding and C. Stachniss and M. Teschner and W. Burgard},
title = {Learning the Elasticity Parameters of Deformable Objects with a Manipulation Robot},
booktitle = {Proc.~of the IEEE/RSJ Int.~Conf.~on Intelligent Robots and Systems (IROS)},
year = 2010,
doi = {10.1109/IROS.2010.5653949},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/frank10iros.pdf},
address = {Taipei, Taiwan}
}
@inproceedings{hornung10erlars,
author = {A. Hornung and M.Bennewitz and C. Stachniss and H. Strasdat and S. O{\ss}wald and W. Burgard},
title = {Learning Adaptive Navigation Strategies for Resource-Constrained Systems},
booktitle = {Proc.~of the Int.~Workshop on Evolutionary and Reinforcement Learning for Autonomous Robot Systems},
year = 2010,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/hornung10erlars.pdf},
address = {Lisbon, Portugal}
}
@inproceedings{sturm10rssws,
author = {J. Sturm and K. Konolige and C. Stachniss and W. Burgard},
title = {3D Pose Estimation, Tracking and Model Learning of Articulated Objects from Dense Depth Video using Projected Texture Stereo},
booktitle = {Proc.~of the Workshop RGB-D: Advanced Reasoning with Depth Cameras at Robotics: Science and Systems (RSS)},
year = 2010,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/sturm10rssws.pdf},
address = {Zaragoza, Spain}
}
@inproceedings{frank10rssws,
author = {B. Frank and R. Schmedding and C. Stachniss and M. Teschner and W. Burgard},
title = {Learning Deformable Object Models for Mobile Robot Path Planning using Depth Cameras and a Manipulation Robot},
booktitle = {Proc.~of the Workshop RGB-D: Advanced Reasoning with Depth Cameras at Robotics: Science and Systems (RSS)},
year = 2010,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/frank10rssws.pdf},
address = {Zaragoza, Spain}
}
@article{plagemann10ras,
author = {C. Plagemann and C. Stachniss and J. Hess and F. Endres and N. Franklin},
title = {A Nonparametric Learning Approach to Range Sensing from Omnidirectional Vision},
journal = {Robotics and Autonomous Systems},
volume = {58},
pages = {762--772},
year = 2010,
issue = {6}
}
@inproceedings{karg10icra,
author = {M. Karg and K.M. Wurm and C. Stachniss and K. Dietmayer and W. Burgard},
title = {Consistent Mapping of Multistory Buildings by Introducing Global Constraints to Graph-based {SLAM}},
booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
year = 2010,
month = may,
doi = {10.1109/ROBOT.2010.5509977},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/karg10icra.pdf},
address = {Anchorage, Alaska}
}
@inproceedings{sturm10icra,
author = {J. Sturm and K. Konolige and C. Stachniss and W. Burgard},
title = {Vision-based Detection for Learning Articulation Models of Cabinet Doors and Drawers in Household Environments},
booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
year = 2010,
doi = {10.1109/ROBOT.2010.5509985},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/sturm10icra.pdf},
address = {Anchorage, Alaska}
}
@inproceedings{wurm10icraws,
author = {K.M. Wurm and A. Hornung and M. Bennewitz and C. Stachniss and W. Burgard},
title = {{OctoMap}: A Probabilistic, Flexible, and Compact {3D} Map Representation for Robotic Systems},
booktitle = {Proc. of the ICRA 2010 Workshop on Best Practice in 3D Perception and Modeling for Mobile Manipulation},
year = 2010,
month = may,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/wurm10icraws.pdf},
address = {Anchorage, AK, USA}
}
@incollection{mueller10cogsysbook,
author = {M\"{u}ller, J. and Stachniss, C. and Arras, K.O. and Burgard, W.},
title = {Socially Inspired Motion Planning for Mobile Robots in Populated Environments},
booktitle = {Cognitive Systems},
year = 2010,
note = {In press},
publisher = {Springer},
series = {Cognitive Systems Monographs}
}
@article{wurm10ras,
author = {Wurm, K.M. and Stachniss, C. and Grisetti, G.},
title = {Bridging the Gap Between Feature- and Grid- based SLAM},
journal = {Robotics and Autonomous Systems},
volume = {58},
number = {2},
pages = {140--148},
year = 2010,
doi = {10.1016/j.robot.2009.09.009},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/wurm10ras.pdf},
issn = {0921-8890}
}
@inproceedings{steder10irosws,
author = {B. Steder and R. B. Rusu and K. Konolige and W. Burgard},
title = {{NARF}: {3D} Range Image Features for Object Recognition},
booktitle = {Workshop on Defining and Solving Realistic Perception Problems in Personal Robotics at the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS)},
year = 2010,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/steder10irosws.pdf},
address = {Taipei, Taiwan},
abstract = {We present our findings regarding a novel method
for interest point detection and feature descriptor
calculation in 3D range data called NARF~(Normal
Aligned Radial Feature). The method makes explicit
use of object boundary information and tries to
extract the features in areas where the surface is
stable but has substantial change in the
vicinity.}
}
@inproceedings{steder10icra,
author = {Steder, B. and Grisetti, G. and Burgard, W.},
title = {Robust Place Recognition for {3D} Range Data based on Point Features},
booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
year = 2010,
doi = {10.1109/ROBOT.2010.5509401},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/steder10icra.pdf},
abstract = {The problem of place recognition appears in
different mobile robot navigation problems
including localization, SLAM, or change detection
in dynamic environments. Whereas this problem has
been studied intensively in the context of robot
vision, relatively few approaches are available for
three- dimensional range data. In this paper, we
present a novel and robust method for place
recognition based on range images. Our algorithm
matches a given 3D scan against a database using
point features and scores potential transformations
by comparing significant points in the scans. A
further advantage of our approach is that the
features allow for a computation of the relative
transformations between scans which is relevant for
registration processes. Our approach has been
implemented and tested on different 3D data sets
obtained outdoors. In several experiments we
demonstrate the advantages of our approach also in
comparison to existing techniques.}
}
@inproceedings{hornung10iros,
author = {Armin Hornung and Kai M. Wurm and Maren Bennewitz},
title = {Humanoid Robot Localization in Complex Indoor Environments},
booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = 2010,
doi = {10.1109/IROS.2010.5649751},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/hornung10iros.pdf},
address = {Taipei, Taiwan}
}
@inproceedings{meyerdelius10iros,
author = {D. Meyer-Delius and J. Hess and G. Grisetti and W. Burgard},
title = {Temporary Maps for Robust Localization in Semi-static Environments},
booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = 2010,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/meyerdelius10iros.pdf},
address = {Taipei, Taiwan}
}
@inproceedings{hornung09iros,
author = {A. Hornung and H. Strasdat and M. Bennewitz and W. Burgard},
title = {Learning Efficient Policies for Vision-based Navigation},
booktitle = {Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = 2009,
doi = {10.1109/IROS.2009.5354634},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/hornung09iros.pdf}
}
@inproceedings{eppner09icra,
author = {C. Eppner and J. Sturm and M. Bennewitz and Stachniss, C. and Burgard, W.},
title = {Imitation Learning with Generalized Task Descriptions},
booktitle = {Proc.~of the IEEE International Conference on Robotics \& Automation (ICRA)},
year = 2009,
doi = {10.1109/ROBOT.2009.5152466},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/eppner09icra.pdf},
address = {Kobe, Japan}
}
@inproceedings{pretto09icra,
author = {A. Pretto and E. Menegatti and M. Bennewitz and W. Burgard and E. Pagello},
title = {A Visual Odometry Framework Robust to Motion Blur},
booktitle = {Proc.~of the IEEE International Conference on Robotics \& Automation (ICRA)},
year = 2009,
doi = {10.1109/ROBOT.2009.5152447},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/pretto09icra.pdf}
}
@inproceedings{bennewitz09icra,
author = {M. Bennewitz and Stachniss, C. and Behnke, S. and Burgard, W.},
title = {Utilizing Reflection Properties of Surfaces to Improve Mobile Robot Localization},
booktitle = {Proc.~of the IEEE International Conference on Robotics \& Automation (ICRA)},
year = 2009,
doi = {10.1109/ROBOT.2009.5152186},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/bennewitz09icra.pdf},
address = {Kobe, Japan}
}
@inproceedings{grzonka09icra,
author = {Grzonka, S. and Grisetti, G. and Burgard, W.},
title = {Towards a Navigation System for Autonomous Indoor Flying},
booktitle = {Proc. IEEE International Conference on Robotics and Automation (ICRA)},
year = 2009,
doi = {10.1109/ROBOT.2009.5152446},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/grzonka09icra.pdf},
address = {Kobe, Japan}
}
@inproceedings{grzonka09ijrr,
author = {Grzonka, S. and Plagemann, C. and Grisetti, G. and Burgard, W.},
title = {Look-ahead Proposals for Robust Grid-based SLAM with Rao-Blackwellized Particle Filters},
booktitle = {International Journal of Robotics Research (IJRR)},
pages = {191--200},
year = 2009,
month = feb,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/grzonka09ijrr.pdf}
}
@inproceedings{joho09ecmr,
author = {Dominik Joho and Martin Senk and Wolfram Burgard},
title = {Learning Wayfinding Heuristics Based on Local Information of Object Maps},
booktitle = {Proceedings of the European Conference on Mobile Robots {(ECMR)}},
pages = {117--122},
year = 2009,
month = sep,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/joho09ecmr.pdf},
address = {Mlini/Dubrovnik, Croatia},
isbn = {978-953-6037-54-4}
}
@inproceedings{joho09icra,
author = {Dominik Joho and Christian Plagemann and Wolfram Burgard},
title = {Modeling {RFID} Signal Strength and Tag Detection for Localization and Mapping},
booktitle = {Proceedings of the {IEEE} International Conference on Robotics and Automation {(ICRA)}},
pages = {3160--3165},
year = 2009,
month = may,
doi = {10.1109/ROBOT.2009.5152372},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/joho09icra.pdf},
issn = {1050-4729},
address = {Kobe, Japan},
abstract = {In recent years, there has been an increasing
interest within the robotics community to
investigate if Radio Frequency Identification
(RFID) technology can be utilized for solving
localization and mapping problems in the context of
mobile robots. We present a novel sensor model
which can be utilized for localizing RFID tags and
for tracking a mobile agent moving through an RFID-
equipped environment. The proposed probabilistic
sensor model characterizes the received signal
strength indication (RSSI) information as well as
the tag detection events to achieve a higher
modeling accuracy compared to state-of-the-art
models that deal with one of these aspects only. We
furthermore propose a method that is able to
bootstrap such a sensor model in a fully
unsupervised fashion. Real- world experiments
demonstrate the effectiveness of the proposed
approach also in comparison to existing
techniques.},
note = {to appear},
isbn = {978-1-4244-2788-8}
}
@article{kuemmerle09auro,
author = {K\"ummerle, R. and B. Steder and C. Dornhege and M. Ruhnke and G. Grisetti and C. Stachniss and A. Kleiner},
title = {On Measuring the Accuracy of {SLAM} Algorithms},
journal = {Journal of Autonomous Robots},
volume = {27},
number = {4},
pages = {387--407},
year = 2009,
doi = {10.1007/s10514-009-9155-6},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/kuemmerle09auro.pdf},
downloads = {http://ais.informatik.uni-freiburg.de/slamevaluation_Evaluation_Software_and_Datasets; http://dx.doi.org/10.1007/s10514-009-9155-6_Online_Version},
downloads = {http://ais.informatik.uni-freiburg.de/slamevaluation_Evaluation_Software_and_Datasets; http://dx.doi.org/10.1007/s10514-009-9155-6_Online_Version},
issue = {4},
abstract = {In this paper, we address the problem of creating
an objective benchmark for evaluating SLAM
approaches. We propose a framework for analyzing
the results of a SLAM approach based on a metric
for measuring the error of the corrected
trajectory. This metric uses only relative
relations between poses and does not rely on a
global reference frame. This overcomes serious
shortcomings of approaches using a global reference
frame to compute the error. Our method furthermore
allows us to compare SLAM approaches that use
different estimation techniques or different sensor
modalities since all computations are made based on
the corrected trajectory of the robot. We provide
sets of relative relations needed to compute our
metric for an extensive set of datasets frequently
used in the robotics community. The relations have
been obtained by manually matching laser-range
observations to avoid the errors caused by matching
algorithms. Our benchmark framework allows the user
to easily analyze and objectively compare different
SLAM approaches.}
}
@inproceedings{wurm09iros,
author = {K.M. Wurm and R. K{\"u}mmerle and C. Stachniss and W. Burgard},
title = {Improving Robot Navigation in Structured Outdoor Environments by Identifying Vegetation from Laser Data},
booktitle = {Proc. of the {IEEE/RSJ} Int. Conf. on Intelligent Robots and Systems (IROS)},
year = 2009,
month = oct,
doi = {10.1109/IROS.2009.5354530},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/wurm09iros.pdf},
downloads = {http://ais.informatik.uni-freiburg.de/~kuemmerl/data/terrain-autonomous-msmpeg.avi_Xvid_Avi_(5_MB)},
downloads = {http://ais.informatik.uni-freiburg.de/~kuemmerl/data/terrain-autonomous-msmpeg.avi_Xvid_Avi_(5_MB)},
address = {St. Louis, MO, USA},
abstract = {This paper addresses the problem of vegetation
detection from laser measurements. The ability to
detect vegetation is important for robots operating
outdoors, since it enables a robot to navigate more
efficiently and safely in such environments. In
this paper, we propose a novel approach for
detecting low, grass-like vegetation using laser
remission values. In our algorithm, the laser
remission is modeled as a function of distance,
incidence angle, and material. We classify surface
terrain based on 3D scans of the surroundings of
the robot. The model is learned in a self-
supervised way using vibration- based terrain
classification. In all real world experiments we
carried out, our approach yields a classification
accuracy of over 99\%. We furthermore illustrate
how the learned classifier can improve the
autonomous navigation capabilities of mobile
robots.}
}
@inproceedings{burgard09iros,
author = {W. Burgard and C. Stachniss and G. Grisetti and B. Steder and R. K{\"u}mmerle and C. Dornhege and M. Ruhnke and A. Kleiner and Juan D. Tard{\'o}s},
title = {A Comparison of SLAM Algorithms Based on a Graph of Relations},
booktitle = {Proc. of the {IEEE/RSJ} Int. Conf. on Intelligent Robots and Systems (IROS)},
year = 2009,
month = oct,
doi = {10.1109/IROS.2009.5354691},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/burgard09iros.pdf},
downloads = {http://ais.informatik.uni-freiburg.de/~kuemmerl/data/slameval-video.avi_Xvid_Avi_(3_MB)},
downloads = {http://ais.informatik.uni-freiburg.de/~kuemmerl/data/slameval-video.avi_Xvid_Avi_(3_MB)},
address = {St. Louis, MO, USA},
abstract = {In this paper, we address the problem of creating
an objective benchmark for comparing SLAM
approaches. We propose a framework for analyzing
the results of SLAM approaches based on a metric
for measuring the error of the corrected
trajectory. The metric uses only relative relations
between poses and does not rely on a global
reference frame. The idea is related to graph-
based SLAM approaches in the sense that it
considers the energy needed to deform the
trajectory estimated by a SLAM approach to the
ground truth trajectory. Our method enables us to
compare SLAM approaches that use different
estimation techniques or different sensor
modalities since all computations are made based on
the corrected trajectory of the robot. We provide
sets of relative relations needed to compute our
metric for an extensive set of datasets frequently
used in the SLAM community. The relations have been
obtained by manually matching laser-range
observations. We believe that our benchmarking
framework allows the user an easy analysis and
objective comparisons between different SLAM
approaches.}
}
@inproceedings{kuemmerle09rss,
author = {K{\"u}mmerle, R. and Steder, B. and Dornhege, C. and Kleiner, A. and Grisetti, G. and Burgard, W.},
title = {Large Scale Graph-based {SLAM} using Aerial Images as Prior Information},
booktitle = {Proceedings of Robotics: Science and Systems (RSS)},
year = 2009,
month = jun,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/kuemmerle09rss.pdf},
downloads = {http://ais.informatik.uni-freiburg.de/~kuemmerl/data/satelliteSLAM_indoorFast.avi_Xvid_Avi_(53_MB)},
downloads = {http://ais.informatik.uni-freiburg.de/~kuemmerl/data/satelliteSLAM_indoorFast.avi_Xvid_Avi_(53_MB)},
address = {Seattle, WA, USA},
abstract = {To effectively navigate in their environments and
accurately reach their target locations, mobile
robots require a globally consistent map of the
environment. The problem of learning a map with a
mobile robot has been intensively studied in the
past and is usually referred to as the simultaneous
localization and mapping (SLAM) problem. However,
existing solutions to the SLAM problem typically
rely on loop-closures to obtain global consistency
and do not exploit prior information even if it is
available. In this paper, we present a novel SLAM
approach that achieves global consistency by
utilizing publicly accessible aerial photographs as
prior information. Our approach inserts
correspondences found between three-dimensional
laser range scans and the aerial image as
constraints into a graph-based formulation of the
SLAM problem. We evaluate our algorithm based on
large real-world datasets acquired in a mixed in-
and outdoor environment by comparing the global
accuracy with state-of-the-art SLAM approaches and
GPS. The experimental results demonstrate that the
maps acquired with our method show increased global
consistency.}
}
@inproceedings{kuemmerle09icra,
author = {R. K{\"u}mmerle and D. H{\"a}hnel and D. Dolgov and S. Thrun and W. Burgard},
title = {Autonomous Driving in a Multi-level Parking Structure},
booktitle = {Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA)},
pages = {3395--3400},
year = 2009,
month = may,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/kuemmerle09icra.pdf},
downloads = {http://ais.informatik.uni-freiburg.de/~kuemmerl/data/stanford-parking-garage-autonomous-double.avi_Xvid_Avi_(9_MB); http://ais.informatik.uni-freiburg.de/~kuemmerl/data/stanford-parking-garage-autonomous-double.wmv_WMV_(11_MB)},
downloads = {http://ais.informatik.uni-freiburg.de/~kuemmerl/data/stanford-parking-garage-autonomous-double.avi_Xvid_Avi_(9_MB); http://ais.informatik.uni-freiburg.de/~kuemmerl/data/stanford-parking-garage-autonomous-double.wmv_WMV_(11_MB)},
address = {Kobe, Japan},
abstract = {Recently, the problem of autonomous navigation of
automobiles has gained substantial interest in the
robotics community. Especially during the two
recent DARPA grand challenges, autonomous cars have
been shown to robustly navigate over extended
periods of time through complex desert courses or
through dynamic urban traffic environments. In
these tasks, the robots typically relied on GPS
traces to follow pre-defined trajectories so that
only local planners were required. In this paper,
we present an approach for autonomous navigation of
cars in indoor structures such as parking garages.
Our approach utilizes multi-level surface maps of
the corresponding environments to calculate the
path of the vehicle and to localize it based on
laser data in the absence of sufficiently accurate
GPS information. It furthermore utilizes a local
path planner for controlling the vehicle. In a
practical experiment carried out with an autonomous
car in a real parking garage we demonstrate that
our approach allows the car to autonomously park
itself in a large-scale multi-level structure.}
}
@inproceedings{lau09icra,
author = {Boris Lau and Kai O. Arras and Wolfram Burgard},
title = {Tracking Groups of People with a Multi-Model Hypothesis Tracker},
booktitle = {International Conference on Robotics and Automation (ICRA)},
year = 2009,
doi = {10.1109/ROBOT.2009.5152731},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/lau09icra.pdf},
address = {Kobe, Japan}
}
@inproceedings{lau09iros,
author = {Boris Lau and Christoph Sprunk and Wolfram Burgard},
title = {Kinodynamic Motion Planning for Mobile Robots Using Splines},
booktitle = {IEEE Intl. Conf. on Intelligent Robots and Systems (IROS)},
year = 2009,
month = oct,
doi = {10.1109/IROS.2009.5354805},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/lau09iros.pdf},
address = {St. Louis, MO, USA}
}
@inproceedings{meyer-delius09iros,
author = {D. Meyer-Delius and J. Sturm and W. Burgard},
title = {Regression-Based Online Situation Recognition for Vehicular Traffic Scenarios},
booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = 2009,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/meyerdelius09iros.pdf},
address = {St. Louis, USA}
}
@inproceedings{meyer-delius09icra,
author = {D. Meyer-Delius and C. Plagemann and W. Burgard},
title = {Probabilistic Situation Recognition for Vehicular Traffic Scenarios},
booktitle = {Proc.~of the IEEE International Conference on Robotics and Automation (ICRA)},
year = 2009,
address = {Kobe, Japan}
}
@inproceedings{mueller09icra,
author = {M\"{u}ller, J. and Rottmann, A. and Reindl, L.M. and Burgard, W.},
title = {A Probabilistic Sonar Sensor Model for Robust Localization of a Small-size Blimp in Indoor Environments using a Particle Filter},
booktitle = {Proceedings of the IEEE International Conference on Robotics \& Automation (ICRA)},
pages = {3589--3594},
year = 2009,
month = may,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/mueller09icra.pdf},
address = {Kobe, Japan}
}
@inproceedings{meyerdelius09icra,
author = {Daniel Meyer-Delius and Christian Plagemann and Wolfram Burgard},
title = {Probabilistic Situation Recognition and its Application to Vehicular Traffic Situations},
booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
year = 2009,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/meyerdelius09icra.pdf},
address = {Kobe, Japan},
abstract = {To act intelligently in dynamic environments, a
system must understand the current situation it is
involved in at any given time. This requires
dealing with temporal context, handling multiple
and ambiguous interpretations, and accounting for
various sources of uncertainty. In this paper we
propose a probabilistic approach to modeling and
recognizing situations. We define a situation as a
distribution over sequences of states that have
some meaningful interpretation. Each situation is
characterized by an individual hidden Markov model
that describes the corresponding distribution. In
particular, we consider typical traffic scenarios
and describe how our framework can be used to model
and track different situations while they are
evolving. The approach was evaluated experimentally
in vehicular traffic scenarios using real and
simulated data. The results show that our system is
able to recognize and track multiple situation
instances in parallel and make sensible decisions
between competing hypotheses. Additionally, we show
that our models can be used for predicting the
position of the tracked vehicles.},
note = {to appear}
}
@inproceedings{rottmann09icra,
author = {Rottmann, A. and Burgard, W.},
title = {Adaptive autonomous control using online value iteration with {G}aussian processes},
booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
pages = {2106--2111},
year = 2009,
doi = {10.1109/ROBOT.2009.5152660}
}
@inproceedings{ruhnke09icra,
author = {Ruhnke, M. and Steder, B. and Grisetti, G. and Burgard, W},
title = {Unsupervised Learning of 3D Object Models from Partial Views},
booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
year = 2009,
doi = {10.1109/ROBOT.2009.5152524},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/ruhnke09icra.pdf},
address = {Kobe, Japan}
}
@phdthesis{stachniss09habil,
author = {C. Stachniss},
title = {Spatial Modeling and Robot Navigation},
school = {University of Freiburg, Department of Computer Science},
year = 2009,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/stachniss-habil.pdf}
}
@article{grisetti09its,
author = {Grisetti, G. and Stachniss, C. and Burgard, W.},
title = {Non-linear Constraint Network Optimization for Efficient Map Learning},
journal = {IEEE Transactions on Intelligent Transportation Systems},
volume = {10},
number = {3},
pages = {428--439},
year = 2009,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/grisetti09its.pdf}
}
@inproceedings{schneider09iros,
author = {A. Schneider and J. Sturm C. Stachniss and M. Reisert and H. Burkhardt and W. Burgard},
title = {Object Identification with Tactile Sensors Using Bag-of-Features},
booktitle = {Proc.~of the IEEE/RSJ Int.~Conf.~on Intelligent Robots and Systems (IROS)},
year = 2009,
doi = {10.1109/IROS.2009.5354648},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/wurm09iros.pdf}
}
@inproceedings{endres09rss,
author = {F. Endres and C. Plagemann and Stachniss, C. and Burgard, W.},
title = {Scene Analysis using Latent Dirichlet Allocation},
booktitle = {Proc.~of Robotics: Science and Systems (RSS)},
year = 2009,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/endres09rss-draft.pdf},
address = {Seattle, WA, USA}
}
@inproceedings{endres09rssws,
author = {Endres, F. and Hess, J. and Franklin, N. and Plagemann, C. and Stachniss, C. and Burgard, W.},
title = {Estimating Range Information from Monocular Vision},
booktitle = {Workshop Regression in Robotics - Approaches and Applications at Robotics: Science and Systems (RSS)},
year = 2009,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/endres09rsswsposter.pdf},
address = {Seattle, WA, USA}
}
@inproceedings{sturm09ijcai,
author = {J. Sturm and V. Predeap and Stachniss, C. and C. Plagemann and K. Konolige and Burgard, W.},
title = {Learning Kinematic Models for Articulated Objects},
booktitle = {Proc.~of the Int.~Conf.~on Artificial Intelligence (IJCAI)},
year = 2009,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/sturm09ijcai.pdf},
address = {Pasadena, CA, USA}
}
@inproceedings{sturm09snowbird,
author = {J. Sturm and Stachniss, C. and V. Predeap and C. Plagemann and K. Konolige and Burgard, W.},
title = {Learning Kinematic Models for Articulated Objects},
booktitle = {Online Proc. of the Learning Workshop (Snowbird)},
year = 2009,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/sturm09snowbird.pdf},
address = {Clearwater, FL, USA}
}
@article{stachniss09auro,
author = {Stachniss, C. and Plagemann, C. and Lilienthal, A.J.},
title = {Gas Distribution Modeling using Sparse Gaussian Process Mixtures},
journal = {Autonomous Robots},
volume = {26},
pages = {187ff},
year = 2009,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/stachniss09auro.pdf},
issue = {2}
}
@book{stachniss09springerbook,
author = {C. Stachniss},
title = {Robotic Mapping and Exploration},
volume = {55},
year = 2009,
publisher = {Springer},
series = {STAR Springer tracts in advanced robotics},
isbn = {978-3-642-01096-5}
}
@inproceedings{strasdat09icra,
author = {H. Strasdat and Stachniss, C. and Burgard, W.},
title = {Which Landmark is Useful? Learning Selection Policies for Navigation in Unknown Environments},
booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
year = 2009,
doi = {10.1109/ROBOT.2009.5152207},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/strasdat09icra.pdf},
address = {Kobe, Japan}
}
@inproceedings{frank09icra,
author = {B. Frank and C. Stachniss and R. Schmedding and W. Burgard and M. Teschner},
title = {Real-world Robot Navigation amongst Deformable Obstacles},
booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
year = 2009,
doi = {10.1109/ROBOT.2009.5152275},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/frank09icra.pdf},
address = {Kobe, Japan}
}
@inproceedings{steder09iros,
author = {Steder, B. and Grisetti, G. and Van Loock, M. and Burgard, W.},
title = {Robust On-line Model-based Object Detection from Range Images},
booktitle = {Proc. of the {IEEE/RSJ} Int. Conf. on Intelligent Robots and Systems (IROS)},
year = 2009,
month = oct,
doi = {10.1109/IROS.2009.5354400},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/steder09iros.pdf},
address = {St. Louis, MO, USA}
}
@inproceedings{schulz09gwr,
author = {H. Schulz and L. Ott and J. Sturm and W. Burgard},
title = {Learning Kinematics from Direct Self- Observation Using Nearest-Neighbor Methods},
booktitle = {Proc.~of the German Workshop on Robotics},
year = 2009,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/schulz09gwr.pdf}
}
@inproceedings{sturm09rssws,
author = {J. Sturm and C. Stachniss and V. Pradeep and C. Plagemann and K. Konolige and W. Burgard},
title = {Towards Understanding Articulated Objects},
booktitle = {Proc.~of the Workshop on Robot Manipulation at Robotics: Science and Systems Conference (RSS)},
year = 2009,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/sturm09rss-manip.pdf},
address = {Seattle, WA, USA}
}
@article{sturm09jp,
author = {J. Sturm and C. Plagemann and W. Burgard},
title = {Body schema learning for robotic manipulators from visual self-perception},
journal = {Journal of Physiology-Paris},
volume = {103},
number = {3-5},
pages = {220--231},
year = 2009,
doi = {DOI: 10.1016/j.jphysparis.2009.08.005},
url = {http://www.sciencedirect.com/science/article/B6VMC-4WY6JVM-D/2/0aaabe9b7dc9628c8c818fa87c8b56e9},
issn = {0928-4257},
note = {Neurorobotics}
}
@phdthesis{mozos2008phd,
author = {Oscar Martinez Mozos},
title = {Semantic Place Labeling with Mobile Robots},
school = {University of Freiburg},
year = 2008,
month = jul,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/mozos2008phd.pdf},
address = {Freiburg, Germany},
category = {thesis}
}
@article{zender2008ras,
author = {Hendrik Zender and Oscar Martinez Mozos and Patric Jensfelt and Geert-Jan M. Kruijff and Wolfram Burgard},
title = {Conceptual Spatial Representations for Indoor Mobile Robots},
journal = {Robotics and Autonomous Systems},
volume = {56},
number = {6},
pages = {493--502},
year = 2008,
month = jun,
doi = {10.1016/j.robot.2008.03.007},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/zender2008ras.pdf},
issn = {0921-8890},
jcr = {0.832 (2006)},
position = {4/12 ROBOTICS (2006)},
publisher = {Elsevier},
category = {journal}
}
@article{stachniss09amai,
author = {Cyrill Stachniss and Oscar Martinez Mozos and Wolfram Burgard},
title = {Efficient Exploration of Unknown Indoor Environments using a Team of Mobile Robots},
journal = {Annals of Mathematics and Artificial Intelligence},
volume = {52},
pages = {205ff},
year = 2008,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/stachniss09amai.pdf},
issn = {1012-2443},
issue = {2},
note = {To appear},
jcr = {0.756 (2007)},
category = {journal}
}
@inproceedings{pronobis2008icra,
author = {Pronobis, A. and Martinez Mozos, O. and Caputo, B.},
title = {{SVM}-based Discriminative Accumulation Scheme for Place Recognition},
booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation},
pages = {522--529},
year = 2008,
month = may,
doi = {10.1109/ROBOT.2008.4543260},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/pronobis2008icra.pdf},
issn = {1050-4729},
address = {Pasadena, CA, USA},
isbn = {978-1-4244-1647-9},
category = {conference}
}
@inbook{triebel2007gfkl_b,
author = {Triebel, R. and Mozos, O.M. and Burgard, W.},
title = {Studies in Classification, Data Analysis, and Knowledge Organization},
pages = {293--300},
year = 2008,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/triebel2007gfkl_book.pdf},
editor = {C. Preisach, H. Burkhardt, L.Schmidt-Thieme,
R.Decker},
chapter = {Relational Learning in Mobile Robotics: An
Application to Semantic Labeling of Objects in {2D}
and {3D} Environment Maps},
publisher = {Springer-Verlag},
category = {book_chapter}
}
@inproceedings{axenbeck08humanoids,
author = {T. Axenbeck and M. Bennewitz and S. Behnke and W. Burgard},
title = {Recognizing Complex, Parameterized Gestures from Monocular Image Sequences},
booktitle = {Proc.~of the IEEE-RAS International Conference on Humanoid Robots (Humanoids)},
year = 2008,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/axenbeck08humanoids.pdf}
}
@inproceedings{stachniss08icra,
author = {Stachniss, C. and Bennewitz, M. and Grisetti, G. and Behnke, S. and Burgard, W.},
title = {How to Learn Accurate Grid Maps with a Humanoid},
booktitle = {Proc.~of the IEEE International Conference on Robotics \& Automation (ICRA)},
year = 2008,
doi = {10.1109/ROBOT.2008.4543697},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/stachniss08icra.pdf},
address = {Pasadena, CA, USA}
}
@inproceedings{bennewitz08rssws,
author = {M. Bennewitz and T. Axenbeck and S. Behnke and W. Burgard},
title = {Robust Recognition of Complex Gestures for Natural Human-Robot Interaction},
booktitle = {Proc. of the Workshop on Interactive Robot Learning at Robotics: Science and Systems Conference (RSS)},
year = 2008
}
@inproceedings{grzonka08simpar,
author = {Grzonka, S. and Grisetti, G. and Burgard, W.},
title = {Autonomous Indoors Navigation using a Small- Size Quadrotor},
booktitle = {Workshop Proc. of Intl. Conf. on Simulation, Modeling and Programming for Autonomous Robots (SIMPAR)},
year = 2008,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/grzonka08simpar.pdf},
address = {Venice, Italy}
}
@inproceedings{grzonka08iros,
author = {Grzonka, S. and Bouabdallah, S. and Grisetti, G. and Burgard, W. and Siegwart, R.},
title = {Towards a Fully Autonomous Indoor Helicopter},
booktitle = {Workshop of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = 2008,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/grzonka08irosWS.pdf},
address = {Nice, France}
}
@inproceedings{arras08icra,
author = {Arras, K. and Grzonka, S. and Luber, M. and Burgard, W.},
title = {Efficient People Tracking in Laser Range Data using a Multi-Hypothesis Leg-Tracker with Adaptive Occlusion Probabilities},
booktitle = {Proc. IEEE International Conference on Robotics and Automation (ICRA)},
year = 2008,
doi = {10.1109/ROBOT.2008.4543447},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/arras08icra.pdf},
address = {Pasadena, CA, USA}
}
@inproceedings{steder08visapp,
author = {Steder, B. and Grisetti, G. and Grzonka, S. and Stachniss, C. and Burgard, W.},
title = {Estimating Consistent Elevation Maps using Down-Looking Cameras and Inertial Sensors},
booktitle = {Proc. of the Workshop on Robotic Perception on the International Conference on Computer Vision Theory and Applications},
year = 2008,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/steder08visapp.pdf},
address = {Funchal, Madeira, Portugal}
}
@inproceedings{kretzschmar08iros,
author = {Henrik Kretzschmar and Cyrill Stachniss and Christian Plagemann and Wolfram Burgard},
title = {Estimating Landmark Locations from Geo- Referenced Photographs},
booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages = {2902--2907},
year = 2008,
doi = {10.1109/IROS.2008.4650855},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/kretzschmar08iros.pdf},
optpdfurl = {http://ais.informatik.uni-freiburg.de/publications/papers/.pdf},
address = {Nice, France},
abstract = {}
}
@article{kuemmerle08jfr,
author = {K{\"u}mmerle, R. and Triebel, R. and Pfaff, P. and Burgard, W.},
title = {Monte Carlo Localization in Outdoor Terrains using Multilevel Surface Maps},
journal = {Journal of Field Robotics (JFR)},
volume = {25},
pages = {346--359},
year = 2008,
month = {June - July},
doi = {10.1002/rob.20245},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/kuemmerle08jfr.pdf},
downloads = {http://ais.informatik.uni-freiburg.de/~kuemmerl/data/movie_sbahn.avi_Xvid_Avi_(15_MB); http://ais.informatik.uni-freiburg.de/~kuemmerl/data/movie-79er.avi_Xvid_Avi_(19_MB)},
downloads = {http://ais.informatik.uni-freiburg.de/~kuemmerl/data/movie_sbahn.avi_Xvid_Avi_(15_MB); http://ais.informatik.uni-freiburg.de/~kuemmerl/data/movie-79er.avi_Xvid_Avi_(19_MB)},
abstract = {We propose a novel combination of techniques for
robustly estimating the position of a mobile robot
in outdoor environments using range data. Our
approach applies a particle filter to estimate the
full six-dimensional state of the robot and
utilizes multilevel surface maps, which, in
contrast to standard elevation maps, allow the
robot to represent vertical structures and multiple
levels in the environment. We describe
probabilistic motion and sensor models to calculate
the proposal distribution and to evaluate the
likelihood of observations. We furthermore describe
an active localization approach that actively
selects the sensor orientation of the two-
dimensional laser range scanner to improve the
localization results. To efficiently calculate the
appropriate orientation, we apply a clustering
operation on the particles and evaluate potential
orientations on the basis of these clusters.
Experimental results obtained with a mobile robot
in large-scale outdoor environments indicate that
our approach yields robust and accurate position
estimates. The experiments also demonstrate that
multilevel surface maps lead to a significantly
better localization performance than standard
elevation maps. They additionally show that further
accuracy is obtained from the active sensing
approach.}
}
@inproceedings{mueller08cogsys,
author = {M\"{u}ller, J. and Stachniss, C. and Arras, K.O. and Burgard, W.},
title = {Socially Inspired Motion Planning for Mobile Robots in Populated Environments},
booktitle = {Proceedings of the International Conference on Cognitive Systems (CogSys)},
pages = {85--90},
year = 2008,
month = apr,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/mueller08cogsys.pdf},
address = {Karlsruhe, Germany}
}
@inproceedings{pfaff08icra,
author = {Patrick Pfaff and Christian Plagemann and Wolfram Burgard},
title = {Gaussian Mixture Models for Probabilistic Localization},
booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
year = 2008,
doi = {10.1109/ROBOT.2008.4543251},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/pfaff08icra.pdf},
address = {Pasadena, CA, USA},
abstract = {Range sensors have become popular for mobile robot
localization since they directly measure the
geometry of the local environment. In situations in
which the robot operates close to obstacles or in
highly cluttered environments, however, small
changes in the pose of the robot can lead to
completely different geometries measured by the
range sensor. The resulting enormous variances in
the likelihood of observations can lead to major
problems in probabilistic approaches such as Monte
Carlo localization as important hypotheses or
particles might get lost which substantially
decreases the robustness of such approaches. A
common solution is to artificially smooth the
likelihood function or to only integrate a small
fraction of the measurements. In this paper we
present a more fundamental and robust approach
which models the likelihood function for single
range measurements as a mixture of Gaussians. In
practical experiments we compare our approach to
previous methods and demonstrate that it provides a
substantially more robust localization.},
note = {to appear}
}
@inproceedings{pfaff08iros,
author = {P. Pfaff and C. Stachniss and C. Plagemann and W. Burgard},
title = {Efficiently Learning High-dimensional Observation Models for Monte-Carlo Localization using Gaussian Mixtures},
booktitle = {Proc.~of the IEEE/RSJ Int.~Conf.~on Intelligent Robots and Systems (IROS)},
year = 2008,
doi = {10.1109/IROS.2008.4650711},
url = {http://ais.informatik.uni-freiburg.de/~stachnis/pdf/pfaff08iros.pdf},
address = {Nice, France},
abstract = {Whereas probabilistic approaches are a powerful
tool for mobile robot localization, they heavily
rely on the proper definition of the so-called
observation model which defines the likelihood of
an observation given the position and orientation
of the robot and the map of the environment. Most
of the sensor models for range sensors proposed in
the past either consider the individual beam
measurements independently or apply uni-modal
models to represent the likelihood function. In
this paper we present an approach that learns
place-dependent sensor models for entire range
scans using Gaussian mixture models. To deal with
the high dimensionality of the measurement space,
we utilize principle component analysis for
dimensionality reduction. In practical experiments
carried out with data obtained from a real robot we
demonstrate that our model substantially
outperforms existing and popular sensor models.}
}
@phdthesis{plagemann08phd,
author = {Plagemann, C.},
title = {Gaussian Processes for Flexible Robot Learning},
school = {University of Freiburg, Department of Computer Science},
year = 2008,
month = dec,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/plagemann08phd.pdf}
}
@inproceedings{plagemann08ecml,
author = {Plagemann, C. and Kersting, K. and Burgard, W.},
title = {Nonstationary Gaussian Process Regression using Point Estimates of Local Smoothness},
booktitle = {Proc.~of the European Conference on Machine Learning (ECML)},
year = 2008,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/plagemann08ecml.pdf},
address = {Antwerp, Belgium},
abstract = {Gaussian processes using nonstationary covariance
functions are a powerful tool for Bayesian
regression with input-dependent smoothness. A
common approach is to model the local smoothness by
a latent process that is integrated over using
Markov chain Monte Carlo approaches. In this paper,
we demonstrate that an approximation that uses the
estimated mean of the local smoothness yields good
results and allows one to employ efficient
gradient- based optimization techniques for jointly
learning the parameters of the latent and the
observed processes. Extensive experiments on both
synthetic and real-world data, including
challenging problems in robotics, show the
relevance and feasibility of our approach.}
}
@proceedings{burgard08ias,
title = {Proc. of the 10th International Conference on Intelligent Autonomous Systems, Baden-Baden, Germany, July 23-25, 2008},
booktitle = {IAS},
year = 2008,
editor = {Burgard, W. and Dillmann, R. and Plagemann, C. and
Vahrenkamp, N.},
publisher = {IOS Press},
isbn = {978-1-58603-887-8}
}
@inproceedings{plagemann08iros,
author = {Plagemann, C. and Mischke, S. and Prentice, S. and Kersting, K. and Roy, N. and Burgard, W.},
title = {Learning Predictive Terrain Models for Legged Robot Locomotion},
booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = 2008,
doi = {10.1109/IROS.2008.4651026},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/plagemann08iros.pdf},
address = {Nice, France},
abstract = {Legged robots require the ability to build
accurate models of their environment in order to
plan and execute their actions. We present a novel,
probabilistic terrain model based on Gaussian
processes that can be learned and updated
efficiently using sparse approximation techniques.
The major benefit of our model is its ability to
predict elevations at unseen locations more
reliably than alternative approaches, while it also
yields estimates of the predictive uncertainties.
In particular, our Gaussian process adapts its
covariance to the situation at hand, allowing more
accurate inference of terrain height at points that
have not been directly observed. We show how a
conventional motion planner can use the learned
terrain model to to plan a path to a goal location,
using a terrain-specific cost model to accept or
reject candidate footholds. In experiments with a
real quadruped robot equipped with a laser range
finder, we demonstrate the usefulness of our
approach and discuss its benefits compared to
simpler terrain models such as elevations grids.}
}
@inproceedings{stachniss08rss,
author = {Stachniss, C. and Plagemann, C. and Lilienthal, A. and Burgard, W.},
title = {Gas Distribution Modeling Using Sparse Gaussian Process Mixture Models},
booktitle = {Robotics: Science and Systems (RSS)},
year = 2008,
month = jun,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/stachniss08rss.pdf},
optpdfurl = {http://ais.informatik.uni-freiburg.de/publications/papers/stachniss08rss.pdf},
address = {Zurich, Switzerland},
note = {To appear},
optabstract = {}
}
@inproceedings{luber08rss,
author = {Luber, M. and Arras, K. and Plagemann, C. and Burgard, W.},
title = {Tracking and Classification of Dynamic Objects: An Unsupervised Learning Approach},
booktitle = {Robotics: Science and Systems (RSS)},
year = 2008,
month = jun,
address = {Zurich, Switzerland},
optabstract = {}
}
@inproceedings{reiser08robotik,
author = {Reiser, U. and Mies, C. and Plagemann, C.},
title = {Verteilte Software-Entwicklung in der Robotik - ein Integrations- und Testframework},
booktitle = {Robotik},
year = 2008,
address = {Munich, Germany},
abstract = {Eine der grten Herausforderungen innerhalb der
Robotik ist die Integration vieler, komplexer
Hardware- und Softwarekomponenten zu einem robust
funktionierenden Gesamtsystem. Neben den
zahlreichen wissenschaftlichen Fragestellungen, die
auf Systemebene zu lsen sind, hngt der
Integrationserfolg insbesondere von der Lsung
praktischer Probleme wie dem Zusammenspiel vieler
Entwicklungspartner und der typischerweise stark
limitierten Verfgbarkeit von Einzelkomponenten ab.
Leistungsfhige Hardwarekomponenten, wie
beispielsweise Mehrfingergreifer und Leichtbauarme,
sind in der Regel Spezialanfertigungen und stehen
daher nur wenigen Partnern innerhalb von Projekten
zur Verfgung. In diesem Beitrag wird ein neues
Integrations- und Testframework zur rumlich
verteilten Forschung und Entwicklung an solchen
Komponenten und integrierten Systemen vorgestellt.
Entwickler knnen hierbei Beitrge zu einer
Technologieplattform leisten, ohne stndigen,
direkten Zugang zur Hardware besitzen zu mssen.},
note = {In German},
optmonth = {}
}
@inproceedings{plagemann08icra,
author = {Plagemann, C. and Endres, F. and Hess, J. and Stachniss, C. and Burgard, W.},
title = {Monocular Range Sensing: A Non-Parametric Learning Approach},
booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
year = 2008,
doi = {10.1109/ROBOT.2008.4543324},
url = {http://ais.informatik.uni-freiburg.de/~stachnis/pdf/plagemann08icra.pdf},
address = {Pasadena, CA, USA},
abstract = {For many applications, mobile robots need to
estimate the geometry of their local surrounding
area. To do so, proximity sensor such as laser
range finders or sonars are typically employed.
Cameras are a cheap and lightweight alternative to
such sensors, but do not offer proximity
information directly. In this paper, we present a
novel approach to learning the relationship between
range measurements and visual features extracted
from a single monocular camera image. As the
learning engine, we apply Gaussian processes, a
non- parametric learning technique that not only
yields the most likely range prediction
corresponding to a certain visual input but also
the predictive uncertainty. This information, in
turn, can be utilized in an extended grid-based
mapping scheme to update a model of the environment
more gently where the predictions are unreliable.
In practical experiments carried out with a mobile
robot equipped with an omnidirectional camera
system in different environments, we show that our
system is able to predict range scans accurate
enough to construct maps of the environment.}
}
@inproceedings{wurm08iros,
author = {K.M. Wurm and Stachniss, C. and W. Burgard},
title = {Coordinated Multi-Robot Exploration using a Segmentation of the Environment},
booktitle = {Proc.~of the IEEE/RSJ Int.~Conf.~on Intelligent Robots and Systems (IROS)},
year = 2008,
month = sep,
doi = {10.1109/IROS.2008.4650734},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/wurm08iros.pdf},
address = {Nice, France}
}
@inproceedings{grisetti08icra,
author = {Grisetti, G. and Lordi Rizzini, D. and Stachniss, C. and Olson, E. and Burgard, W.},
title = {Online Constraint Network Optimization for Efficient Maximum Likelihood Map Learning},
booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
year = 2008,
doi = {10.1109/ROBOT.2008.4543481},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/grisetti08icra.pdf},
address = {Pasadena, CA, USA}
}
@inproceedings{frank08icra,
author = {Frank, B. and Becker, M. and Stachniss, C. and Teschner, M. and Burgard, W.},
title = {Efficient Path Planning for Mobile Robots in Environments with Deformable Objects},
booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
year = 2008,
doi = {10.1109/ROBOT.2008.4543784},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/frank08icra.pdf},
address = {Pasadena, CA, USA}
}
@inproceedings{frank08icraws,
author = {Frank, B. and Becker, M. and Stachniss, C. and Teschner, M. and Burgard, W.},
title = {Learning Cost Functions for Mobile Robot Navigation in Environments with Deformable Objects},
booktitle = {Workshop on Path Planning on Cost Maps at the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
year = 2008,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/frank08icraws.pdf},
address = {Pasadena, CA, USA}
}
@inproceedings{steder08visappws,
author = {Steder, B. and Grisetti, G. and Stachniss, C. and Burgard, W.},
title = {Learning Visual Maps using Cameras and Inertial Sensors},
booktitle = {Workshop on Robotic Perception, International Conference on Computer Vision Theory and Applications},
year = 2008,
address = {Funchal, Madeira, Portugal},
note = {To appear}
}
@book{rss07proceedings,
title = {Robotics: Science and Systems III},
year = 2008,
month = mar,
editor = {Burgard, W. and Brock, O. and Stachniss, C.},
note = {In press},
publisher = {MIT Press},
isbn = {0262524848}
}
@article{steder08tro,
author = {Steder, B. and Grisetti, G. and Stachniss, C. and Burgard, W.},
title = {Visual {SLAM} for Flying Vehicles},
journal = {{IEEE} Transactions on Robotics},
volume = {24},
number = {5},
pages = {1088--1093},
year = 2008,
month = nov,
doi = {10.1109/TRO.2008.2004521},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/steder08tro.pdf}
}
@inproceedings{sturm08icra,
author = {J. Sturm and C. Plagemann and W. Burgard},
title = {Unsupervised Body Scheme Learning through Self- Perception},
booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
pages = {3328--3333},
year = 2008,
doi = {10.1109/ROBOT.2008.4543718},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/sturm08icra.pdf},
address = {Pasadena, CA, USA}
}
@inproceedings{sturm08rss,
author = {J. Sturm and C. Plagemann and W. Burgard},
title = {Adaptive Body Scheme Models for Robust Robotic Manipulation},
booktitle = {Robotics: Science and Systems (RSS)},
year = 2008,
month = jun,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/sturm08rss.pdf},
address = {Zurich, Switzerland}
}
@inproceedings{sturm08rss-workshop,
author = {J. Sturm and C. Plagemann and W. Burgard},
title = {Body Scheme Learning and Life-Long Adaptation for Robotic Manipulation},
booktitle = {Proceedings of the Workshop on Robot Manipulation at Robotics: Science and Systems Conference (RSS)},
year = 2008,
month = jun,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/sturm08rss-workshop.pdf},
address = {Zurich, Switzerland}
}
@inproceedings{mozos2007iros_workshop,
author = {Oscar Martinez Mozos and Patric Jensfelt and Hendrik Zender and Geert-Jan M. Kruijff and Wolfram Burgard},
title = {From Labels to Semantics: An Integrated System for Conceptual Spatial Representations of Indoor Environments for Mobile Robots},
booktitle = {Proceedings of the IEEE/RSJ IROS 2007 Workshop: Semantic information in robotics},
year = 2007,
url = {http://www2.informatik.uni-freiburg.de/~omartine/publications/mozos2007iros_workshop.html},
googlevideo = {http://www2.informatik.uni-freiburg.de/~omartine/publications/mozos2007iros_workshop.html#video},
address = {San Diego, CA, USA},
category = {workshop}
}
@article{stachniss07it,
author = {Cyrill Stachniss and Giorgio Grisetti and Oscar Martinez Mozos and Wolfram Burgard},
title = {Efficiently Learning Metric and Topological Maps with Autonomous Service Robots},
journal = {it--Information Technology},
volume = {49},
number = {4},
pages = {232--237},
year = 2007,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/stachniss2007it.pdf},
issn = {1611--2776},
editor = {Buss, M. and Lawitzki, G.},
category = {journal},
journallink = {http://it-information-technology.de/}
}
@inproceedings{zender2007aaai,
author = {Hendrik Zender and Patric Jensfelt and Oscar Martinez Mozos and Geert-Jan M. Kruijff and Wolfram Burgard},
title = {An Integrated Robotic System for Spatial Understanding and Situated Interaction in Indoor Environments},
booktitle = {Proceedings of the Conference on Artificial Intelligence},
year = 2007,
url = {http://www2.informatik.uni-freiburg.de/~omartine/publications/zender2007aaai.html},
googlevideo = {http://www2.informatik.uni-freiburg.de/~omartine/publications/zender2007aaai.html#video},
address = {Vancouver, British Columbia, Canada},
category = {conference}
}
@inproceedings{triebel2007gfkl,
author = {Rudolph Triebel and Oscar Martinez Mozos and Wolfram Burgard},
title = {Relational Learning in Mobile Robotics: An Application to Semantic Labeling of Objects in {2D} and {3D} Environment Maps},
booktitle = {Annual Conference of the German Classification Society on Data Analysis, Machine Learning, and Applications},
year = 2007,
address = {Freiburg, Germany},
category = {conference}
}
@inproceedings{mozos2007icra_workshop,
author = {Oscar Martinez Mozos and Patric Jensfelt and Hendrik Zender and Geert-Jan M. Kruijff and Wolfram Burgard},
title = {From Labels to Semantics: An Integrated System for Conceptual Spatial Representations of Indoor Environments for Mobile Robots},
booktitle = {Proceedings of the IEEE ICRA Workshop: Semantic information in robotics},
pages = {33--40},
year = 2007,
url = {http://ais.informatik.uni-freiburg.de/~omartine/publications/mozos2007icra_workshop.html},
googlevideo = {http://ais.informatik.uni-freiburg.de/~omartine/publications/mozos2007icra_workshop.html#video},
category = {workshop}
}
@inproceedings{arras2007icra,
author = {Kai O. Arras and Oscar Martinez Mozos and Wolfram Burgard},
title = {Using Boosted Features for the Detection of People in {2D} Range Data},
booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation},
pages = {3402--3407},
year = 2007,
doi = {10.1109/ROBOT.2007.363998},
url = {http://ais.informatik.uni-freiburg.de/~omartine/publications/arras2007icra.html},
video = {http://ais.informatik.uni-freiburg.de/~omartine/multimedia/AdaBoostOffice.avi},
category = {conference}
}
@article{mozos2007ras,
author = {Oscar Martinez Mozos and Rudolph Triebel and Patric Jensfelt and Axel Rottmann and Wolfram Burgard},
title = {Supervised semantic labeling of places using information extracted from sensor data},
journal = {Robotics and Autonomous Systems},
volume = {55},
number = {5},
pages = {391--402},
year = 2007,
month = may,
url = {http://ais.informatik.uni-freiburg.de/~rottmann/publication/mozos07ras.pdf},
position = {4/12 ROBOTICS (2006)},
jcr = {(0.832 2006)},
category = {journal}
}
@inproceedings{triebel2007ijcai,
author = {Rudolph Triebel and Richard Schmidt and Oscar Martinez Mozos and Wolfram Burgard},
title = {Instace-based AMN Classification for Improved Object Recognition in 2D and 3D Laser Range Data},
booktitle = {Proceedings of the International Joint Conference on Artificial Intelligence},
pages = {2225--2230},
year = 2007,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/triebel2007ijcai.pdf},
address = {Hyderabad, India},
category = {conference}
}
@inbook{mozos2007star,
author = {Oscar Martinez Mozos and Cyrill Stachniss and Axel Rottmann and Wolfram Burgard},
title = {Robotics Research: Results of the 12th International Symposium ISRR.},
volume = {28},
pages = {453--472},
year = 2007,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/mozos2007star.pdf},
editor = {Thrun, S. and Brooks, R. and Durrant-Whyte, H.},
chapter = {Using AdaBoost for Place Labeling and Topological
Map Building.},
publisher = {Springer-Verlag Berlin Heidelberg, Germany},
series = {{STAR} Springer tracts in advanced robotics},
category = {book_chapter}
}
@inproceedings{strasdat07ams,
author = {Strasdat, H. and Stachniss, C. and Bennewitz, M. and Burgard, W.},
title = {Visual Bearing-Only Simultaneous Localization and Mapping with Improved Feature Matching},
booktitle = {Proc.~of the Fachgespr{\"a}che Autonome Mobile Systeme (AMS)},
year = 2007,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/strasdat07ams.pdf},
address = {Kaiserslautern, Germany}
}
@inproceedings{grisetti07iros,
author = {Grisetti, G. and Grzonka, S. and Stachniss, C. and Pfaff, P. and Burgard, W.},
title = {Efficient Estimation of Accurate Maximum Likelihood Maps in 3D},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = 2007,
doi = {10.1109/IROS.2007.4399030},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/grisetti07iros.pdf},
address = {San Diego, CA, USA}
}
@inproceedings{steder07iros,
author = {Steder, S. and Grisetti, G. and Stachniss, C. and Grzonka, S. and Rottmann, A. and Burgard, W.},
title = {Learning Maps in 3D using Attitude and Noisy Vision Sensors},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages = {644--649},
year = 2007,
doi = {10.1109/IROS.2007.4399414},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/steder07iros.pdf},
address = {San Diego, CA, USA}
}
@inproceedings{grzonka07fsr,
author = {Grzonka, S. and Plagemann, C. and Grisetti, G. and Burgard, W.},
title = {Look-ahead Proposals for Robust Grid-based SLAM},
booktitle = {Proc. of the International Conference on Field and Service Robotics (FSR)},
year = 2007,
month = jul,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/grzonka07fsr.pdf},
address = {Chamonix, France},
abstract = {Simultaneous Localization and Mapping (SLAM) is
one of the classical problems in mobile robotics.
The task is to build a map of the environment using
on-board sensors while at the same time localizing
the robot relative to this map. Rao-Blackwellized
particle filters have emerged as a powerful
technique for solving the SLAM problem in a wide
variety of environments. It is a well-known fact
for sampling-based approaches that the choice of
the proposal distribution greatly influences the
robustness and efficiency achievable by the
algorithm. In this paper, we present a
significantly improved proposal distribution for
grid-based SLAM, which utilizes whole sequences of
sensor measurements rather than only the most
recent one. We have implemented our system on a
real robot and evaluated its performance on
standard data sets as well as in hard outdoor
settings with few and ambiguous features. Our
approach improves the localization accuracy and the
map quality. At the same time, it substantially
reduces the risk of mapping failures.}
}
@inproceedings{grisetti07rss,
author = {Grisetti, G. and Stachniss, C. and Grzonka, S. and Burgard},
title = {A Tree Parameterization for Efficiently Computing Maximum Likelihood Maps using Gradient Descent},
booktitle = {Proc.~of Robotics: Science and Systems (RSS)},
year = 2007,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/grisetti07rss.pdf},
address = {Atlanta, GA, USA}
}
@inproceedings{pfaff07irosws,
author = {Patrick Pfaff and Rainer K\"{u}mmerle and Dominik Joho and Cyrill Stachniss and Rudolph Triebel and Wolfram Burgard},
title = {Navigation in Combined Outdoor and Indoor Environments using Multi-Level Surface Maps},
booktitle = {Proc. of the Workshop on Safe Navigation in Open and Dynamic Environments at the {IEEE} Int. Conf. on Intelligent Robots and Systems {(IROS)}},
year = 2007,
month = oct,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/pfaff07irosws.pdf},
address = {San Diego, CA, USA},
abstract = {Whenever mobile robots are used in real world
applications, the ability to learn an accurate
model of the environment and to localize itself
based on such a model are important prerequisites
for reliable operation. Whereas these problems have
been successfully solved in the past for most
indoor tasks, in which the robot is assumed to
operate on a flat surface, such approaches are
likely to fail in combined indoor and outdoor
environments in which the three-dimensional
structure of the world needs to be considered. In
this paper, we consider the problem of localizing a
vehicle that operates in 3D indoor as well as
outdoor settings. Our approach is entirely
probabilistic and does not rely on GPS information.
It is based on so-called multi-level surface maps
which are an extension of the well- known elevation
maps. In addition to that, we present a technique
that allows the robot to actively explore the
environment. This algorithm applies a decision-
theoretic approach and considers the uncertainty in
the model to determine the next action to be
executed. In practical experiments, we illustrate
the properties as well as advantages of our
approach compared to other techniques.}
}
@inproceedings{joho07ams,
author = {Dominik Joho and Cyrill Stachniss and Patrick Pfaff and Wolfram Burgard},
title = {Autonomous Exploration for 3{D} Map Learning},
booktitle = {{A}utonome {M}obile {S}ysteme {(AMS)}},
pages = {22--28},
year = 2007,
month = oct,
doi = {10.1007/978-3-540-74764-2_4},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/joho07ams.pdf},
address = {Kaiserslautern, Germany},
editor = {Karsten Berns and Tobias Luksch},
publisher = {Springer},
isbn = {978-3-540-74763-5}
}
@mastersthesis{joho07diplom,
author = {Dominik Joho},
title = {{E}xploration f\"{u}r mobile {R}oboter unter {V}erwendung dreidimensionaler {U}mgebungsmodelle},
school = {Albert-Ludwigs-Universit\"{a}t Freiburg},
year = 2007,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/joho07diplom.pdf}
}
@inproceedings{kuemmerle07ams,
author = {K{\"u}mmerle, R. and Pfaff, P. and Triebel, R. and Burgard, W.},
title = {Active Monte Carlo Localization in Outdoor Terrains using Multi-Level Surface Maps},
booktitle = {Fachgespr{\"a}ch Autonome Mobile Systeme (AMS)},
pages = {22--28},
year = 2007,
month = oct,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/kuemmerle07ams.pdf},
address = {Kaiserslautern, Germany},
editor = {Karsten Berns and Tobias Luksch},
abstract = {Abstract. In this paper we consider the problem of
active mobile robot localization with range sensors
in outdoor environments. In contrast to passive
approaches our approach actively selects the
orientation of the laser range finder to improve
the localization results. It applies a particle
filter to estimate the full six- dimensional state
of the robot. To represent the environment we
utilize multi-level surface maps which allow the
robot to represent vertical structures and multiple
levels. To efficiently calculate the optimal
orientation for the range scanner, we apply a
clustering operation on the particles and only
evaluate potential orientations based on these
clusters. Experimental results obtained with a
mobile robot in an outdoor environment indicate
that the active control of the range sensor leads
to more efficient localization results.},
publisher = {Springer},
isbn = {978-3-540-74763-5}
}
@inproceedings{kuemmerle07fsr,
author = {K{\"u}mmerle, R. and Triebel, R. and Pfaff, P. and Burgard, W.},
title = {Monte Carlo Localization in Outdoor Terrains using Multi-Level Surface Maps},
booktitle = {Proc. of the International Conference on Field and Service Robotics (FSR)},
year = 2007,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/kuemmerle07fsr.pdf},
downloads = {http://ais.informatik.uni-freiburg.de/~kuemmerl/data/movie_sbahn.avi_Xvid_Avi_(15_MB); http://ais.informatik.uni-freiburg.de/~kuemmerl/data/movie-79er.avi_Xvid_Avi_(19_MB)},
downloads = {http://ais.informatik.uni-freiburg.de/~kuemmerl/data/movie_sbahn.avi_Xvid_Avi_(15_MB); http://ais.informatik.uni-freiburg.de/~kuemmerl/data/movie-79er.avi_Xvid_Avi_(19_MB)},
address = {Chamonix, France},
abstract = {In this paper we consider the problem of mobile
robot localization with range sensors in outdoor
environments. Our approach applies a particle
filter to estimate the full six-dimensional state
of the robot. To represent the environment we
utilize multi-level surface maps which allow the
robot to represent vertical structures and multiple
levels in the environment. We describe
probabilistic motion and sensor models to calculate
the proposal distribution and to evaluate the
likelihood of observations. Experimental results
obtained with a mobile robot in an outdoor
environment indicate that our approach can be used
to robustly and accurately localize an outdoor
vehicle. The experiments also demonstrate that
multi-level surface maps lead to a significantly
better localization performance than standard
elevation maps.}
}
@inproceedings{meyer-delius07ecmr,
author = {D. Meyer-Delius and W. Burgard},
title = {Maximum-Likelihood Sample-Based Maps for Mobile Robots},
booktitle = {Proc.~of the European Conference on Mobile Robots (ECMR)},
year = 2007,
address = {Freiburg, Germany}
}
@inproceedings{meyer-delius07gfki,
author = {D. Meyer-Delius and C. Plagemann and G. von Wichert and W. Feiten and G. Lawitzky and W. Burgard},
title = {A Probabilistic Relational Model for Characterizing Situations in Dynamic Multi-Agent Systems},
booktitle = {In Proc.~of the 31th Annual Conference of the German Classification Society on Data Analysis, Machine Learning, and Applications (GFKL)},
year = 2007,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/meyerdelius07gfkl.pdf},
address = {Freiburg, Germany},
abstract = {Artificial systems with a high degree of autonomy
require reliable semantic information about the
context they operate in. State interpretation,
however, is a difficult task. Interpretations may
depend on a history of states and there may be more
than one valid interpretation. We propose a model
for spatio-temporal situations using hidden Markov
models based on relational state descriptions,
which are extracted from the estimated state of an
underlying dynamic system. Our model covers
concurrent situations, scenarios with multiple
agents, and situations of varying durations. To
evaluate the practical usefulness of our model, we
apply it to the concrete task of online traffic
analysis.}
}
@inproceedings{pfaff07icra,
author = {Pfaff, P. and Triebel, R.and Stachniss, C. and Lamon, P. and Burgard, W. and Siegwart, R.},
title = {Towards Mapping of Citites},
booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
year = 2007,
doi = {10.1109/ROBOT.2007.364220},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/pfaff07icra.pdf},
address = {Rome, Italy}
}
@inproceedings{pfaff07iros,
author = {P. Pfaff and C. Plagemann and W. Burgard},
title = {Improved Likelihood Models for Probabilistic Localization based on Range Scans},
booktitle = {Proc.~of the IEEE/RSJ Int.~Conf.~on Intelligent Robots and Systems (IROS)},
year = 2007,
doi = {10.1109/IROS.2007.4399250},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/pfaff07iros.pdf},
address = {San Diego, CA, USA},
abstract = {}
}
@article{pfaff07ijrr,
author = {Pfaff, P. and Triebel, R. and Burgard, W.},
title = {An Efficient Extension to Elevation Maps for Outdoor Terrain Mapping and Loop Closing},
journal = {International Journal of Robotics Research},
year = 2007,
editor = {P. Corke, and S. Sukkarieh}
}
@inproceedings{plagemann07snowb,
author = {Plagemann, C. and Kersting, K. and Pfaff, P. and Burgard, W.},
title = {Heteroscedastic Gaussian Process Regression for Modeling Range Sensors in Mobile Robotics},
booktitle = {Proc.~of the Learning Workshop (Snowbird)},
year = 2007,
month = mar,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/plagemann07snowb.pdf},
address = {San Juan, Puerto Rico}
}
@inproceedings{rottmann07iros,
author = {Rottmann, A. and Plagemann, C. and Hilgers, P. and Burgard, W.},
title = {Autonomous Blimp Control using Model-free Reinforcement Learning in a Continuous State and Action Space},
booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages = {1895--1900},
year = 2007,
doi = {10.1109/IROS.2007.4399531},
url = {http://ais.informatik.uni-freiburg.de/~rottmann/publication/rottmann07iros.pdf},
address = {San Diego, CA, USA},
abstract = {}
}
@inproceedings{plagemann07rss,
author = {Plagemann, C. and Kersting, K. and Pfaff, P. and Burgard, W.},
title = {Gaussian Beam Processes: A Nonparametric Bayesian Measurement Model for Range Finders},
booktitle = {Robotics: Science and Systems (RSS)},
year = 2007,
month = jun,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/plagemann07rss.pdf},
address = {Atlanta, Georgia, USA},
abstract = {In probabilistic mobile robotics, the development
of measurement models plays a crucial role as it
directly influences the efficiency and the
robustness of the robot's performance in a great
variety of tasks including localization, tracking,
and map building. In this paper, we present a novel
probabilistic measurement model for range finders,
called Gaussian Beam Processes, which treats the
measurement modeling task as a nonparametric
Bayesian regression problem and solves it using
Gaussian processes. The major advantage of our
approach lies in the smoothness of the resulting
model which appropriately represents correlations
between adjacent beams using covariance functions.
Moreover, the Gaussian process treatment results in
a sound probabilistic measurement model with a pool
of well-established techniques for likelihood
estimation and range prediction for an arbitrary
number of beams. Experiments on real world and
synthetic data show that Gaussian Beam Processes
combine the advantages of two popular measurement
models.}
}
@inproceedings{lang07rss,
author = {Lang, T. and Plagemann, C. and Burgard, W.},
title = {Adaptive Non-Stationary Kernel Regression for Terrain Modeling},
booktitle = {Robotics: Science and Systems (RSS)},
year = 2007,
month = jun,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/lang07rss.pdf},
address = {Atlanta, Georgia, USA},
abstract = {Three-dimensional digital terrain models are of
fundamental importance in many areas such as the
geo-sciences and outdoor robotics. Accurate
modeling requires the ability to deal with a
varying data density and to balance smoothing
against the preservation of discontinuities. The
latter is particularly important for robotics
applications, as discontinuities that arise, for
example, at steps, stairs, or building walls are
important features for path planning or terrain
segmentation tasks. In this paper, we present an
extension of the well- established Gaussian process
regression technique, that utilizes non-stationary
covariance functions to locally adapt to the
structure of the terrain data. In this way, we
achieve strong smoothing in flat areas and along
edges and at the same time preserve edges and
corners. The derived model yields predictive height
distributions for arbitrary locations of the
terrain and therefore allows us to fill gaps in
data and to perform conservative predictions in
occluded areas.}
}
@inproceedings{kersting07icml,
author = {Kersting, K. and Plagemann, C. and Pfaff, P. and Burgard, W.},
title = {Most Likely Heteroscedastic Gaussian Process Regression},
booktitle = {International Conference on Machine Learning (ICML)},
year = 2007,
month = mar,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/kersting07icml.pdf},
address = {Corvallis, Oregon, USA},
abstract = {This paper presents a novel Gaussian process (GP)
approach to regression with input-dependent noise
rates. We follow Goldberg et al.'s approach and
model the noise variance using a second GP in
addition to the GP governing the noise-free output
value. In contrast to Goldberg et al., however, we
do not use a Markov chain Monte Carlo method to
approximate the posterior noise variance but a most
likely noise approach. The resulting model is easy
to implement and can directly be used in
combination with various existing extensions of the
standard GPs such as sparse approximations.
Extensive experiments on both synthetic and real-
world data, including a challenging perception
problem in robotics, show the effectiveness of most
likely heteroscedastic GP regression.}
}
@article{kersting07ar,
author = {Kersting, K. and Plagemann, C. and Cocora, A. and Burgard, W. and De Raedt, L.},
title = {Learning to Transfer Optimal Navigation Policies},
journal = {Advanced Robotics. Special Issue on Imitative Robots},
volume = {21},
number = {9},
year = 2007,
month = sep,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/kersting07ar.pdf},
abstract = {Autonomous agents that act in the real world
utilizing sensory input greatly rely on the ability
to plan their actions and to transfer these skills
across tasks. The majority of path planning
approaches for mobile robots, however, solve the
current navigation problem from scratch given the
current and goal configuration of the robot.
Consequently, these approaches yield highly
efficient plans for the specific situation, but the
computed policies typically do not transfer to
other, similar tasks. In this paper, we propose to
apply techniques from statistical relational
learning to the path planning problem. More
precisely, we propose to learn relational decision
trees as abstract navigation strategies from
example paths. Relational abstraction has several
interesting and important properties. First, it
allows a mobile robot to imitate navigation
behavior shown by users or by optimal policies.
Second, it yields comprehensible models of
behavior. Finally, a navigation policy learned in
one environment naturally transfers to unknown
environments. In several experiments with real
robots and in simulated runs, we demonstrate that
our approach yields efficient navigation plans. We
show that our system is robust against observation
noise and can outperform hand-crafted policies.}
}
@inproceedings{plagemann07ijcai,
author = {Plagemann, C. and Fox, D. and Burgard, W.},
title = {Efficient Failure Detection on Mobile Robots Using Particle Filters with Gaussian Process Proposals},
booktitle = {Proc.~of the Twentieth International Joint Conference on Artificial Intelligence (IJCAI)},
year = 2007,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/plagemann07ijcai.pdf},
address = {Hyderabad, India},
abstract = {The ability to detect failures and to analyze
their causes is one of the preconditions of truly
autonomous mobile robots. Especially online failure
detection is a complex task, since the effects of
failures are typically difficult to model and often
resemble the noisy system behavior in a fault-free
operational mode. In this paper we present an
approach that applies Gaussian process
classification and regression techniques for
learning highly effective proposal distributions of
a particle filter that is applied to track the
state of the system. As a result, the efficiency
and robustness of the state estimation process is
substantially improved. In practical experiments
carried out with a real robot we demonstrate that
our system is capable of detecting collisions with
unseen obstacles while at the same time estimating
the changing point of contact with the obstacle.}
}
@inproceedings{rottmann07ecmr,
author = {Rottmann, A. and Sippel, M. and Zitterell, T. and Burgard, W. and Reindl, L. and Scholl, C.},
title = {Towards an Experimental Autonomous Blimp Platform},
booktitle = {Proc.~of the European Conference on Mobile Robots (ECMR)},
year = 2007,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/rottmann07ecmr.pdf},
address = {Freiburg, Germany}
}
@inproceedings{steder07irosws,
author = {Steder, B. and Rottmann, A. and Grisetti, G. and Stachniss, C. and Burgard, W.},
title = {Autonomous Navigation for Small Flying Vehicles},
booktitle = {Workshop on Micro Aerial Vehicles at the IEEE/RSJ Int.~Conf.~on Intelligent Robots and Systems (IROS)},
year = 2007,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/steder07irosws.pdf},
address = {San Diego, CA, USA}
}
@incollection{burgard07starbook,
author = {Burgard, W. and Stachniss, C. and Haehnel, D.},
title = {Mobile Robot Map Learning from Range Data in Dynamic Environments},
booktitle = {Autonomous Navigation in Dynamic Environments},
volume = {35},
year = 2007,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/burgard07starbook.pdf},
editor = {Laugier, C. and Chatila, R.},
publisher = {Springer},
series = {STAR Springer tracts in advanced robotics}
}
@inproceedings{stachniss07iros,
author = {Stachniss, C. and Grisetti, G. and Burgard, W. and Roy, N.},
title = {Evaluation of Gaussian Proposal Distributions for Mapping with Rao-Blackwellized Particle Filters},
booktitle = {Proc.~of the IEEE/RSJ Int.~Conf.~on Intelligent Robots and Systems (IROS)},
year = 2007,
doi = {10.1109/IROS.2007.4399005},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/stachniss07iros.pdf},
address = {San Diego, CA, USA}
}
@inproceedings{wurm07ecmr,
author = {Wurm, K.M. and Stachniss, C. and Grisetti, G. and Burgard, W.},
title = {Improved Simultaneous Localization and Mapping using a Dual Representation of the Environment},
booktitle = {Proc.~of the European Conference on Mobile Robots (ECMR)},
year = 2007,
month = sep,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/wurm07ecmr.pdf},
address = {Freiburg, Germany}
}
@incollection{martinez07starbook,
author = {Mart\'{i}nez-Mozos, O. and Stachniss, C. and Rottmann, A. and Burgard, W.},
title = {Using AdaBoost for Place Labelling and Topological Map Building},
booktitle = {Robotics Research},
volume = {28},
year = 2007,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/martinez07springer.pdf},
editor = {Thrun, S. and Brooks, R. and Durrant-Whyte, H.},
publisher = {Springer},
series = {STAR Springer tracts in advanced robotics},
isbn = {978-3-540-48110-2}
}
@article{grisetti07trans,
author = {Grisetti, G. and Stachniss, C. and Burgard, W.},
title = {Improved Techniques for Grid Mapping with Rao- Blackwellized Particle Filters},
journal = {IEEE Transactions on Robotics},
volume = {23},
number = {1},
pages = {34--46},
year = 2007,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/grisetti07tro.pdf}
}
@article{grisetti07jras,
author = {Grisetti, G. and Tipaldi, G.D. and Stachniss, C. and Burgard, W. and Nardi, D.},
title = {Fast and Accurate {SLAM} with Rao-Blackwellized Particle Filters},
journal = {Robotics and Autonomous Systems},
volume = {55},
number = {1},
pages = {30--38},
year = 2007,
url = {http://ais.informatik.uni-freiburg.de/~tipaldi/papers/grisettiRAS07.pdf}
}
@mastersthesis{steder07da,
author = {Steder, Bastian},
title = {{T}echniken f{\"u}r bildbasiertes {SLAM} unter {V}erwendung von {L}agesensoren},
school = {Albert-Ludwigs-Universit{\"a}t},
year = 2007,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/steder07da.pdf},
address = {Freiburg}
}
@inproceedings{tipaldi07iros,
author = {Gian Diego Tipaldi and Giorgio Grisetti and Wolfram Burgard},
title = {Approximated Covariance Estimation in Graphical Approaches to SLAM},
booktitle = {Proceedings of the {IEEE/RSJ} International Conference on Intelligent Robots and Systems ({IROS})},
year = 2007,
doi = {10.1109/IROS.2007.4399258},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/tipaldiIROS07.pdf},
address = {San Diego, USA}
}
@mastersthesis{wurm07da,
author = {Wurm, Kai M.},
title = {Robustes {L}ernen von {U}mgebungskarten durch {I}ntegration verschiedener {R}epr{\"a}sentationen},
school = {Albert-Ludwigs-Universit{\"a}t},
year = 2007,
month = jul,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/wurm07da.pdf},
address = {Freiburg},
note = {In German}
}
@inproceedings{mozos2006iros_w,
author = {Oscar Martinez Mozos and Axel Rottmann and Rudolph Triebel and Patric Jensfelt and Wolfram Burgard},
title = {Semantic Labeling of Places using Information Extracted from Laser and Vision Sensor Data},
booktitle = {Proceedings of the IEEE/RSJ IROS Workshop: From sensors to human spatial concepts},
pages = {391--402},
year = 2006,
url = {http://ais.informatik.uni-freiburg.de/~rottmann/publication/mozos2006iros_w.pdf},
address = {Beijing, China},
category = {workshop}
}
@inproceedings{mozos2006iros,
author = {Oscar Martinez Mozos and Wolfram Burgard},
title = {Supervised Learning of Topological Maps using Semantic Information Extracted from Range Data.},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems},
year = 2006,
doi = {10.1109/IROS.2006.282058},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/mozos2006iros.pdf},
address = {Beijing, China},
category = {conference}
}
@inproceedings{gil2006iros,
author = {Arturo Gil and Oscar Reinoso and Wolfram Burgard and Cyrill Stachniss and Oscar Martinez Mozos},
title = {Improving Data Association in Rao-Blackwellized visual {SLAM}},
booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems},
pages = {2076--2081},
year = 2006,
doi = {10.1109/IROS.2006.282483},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/gil2006iros.pdf},
address = {Beijing, China},
category = {conference}
}
@inproceedings{stachniss06icra,
author = {Cyrill Stachniss and Oscar Martinez Mozos and Wolfram Burgard},
title = {Speeding-Up Multi-Robot Exploration by Considering Semantic Place Information},
booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation},
pages = {1692--1697},
year = 2006,
doi = {10.1109/ROBOT.2006.1641950},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/stachniss06icra.pdf},
link = {http://ais.informatik.uni-freiburg.de/publications/papers/stachniss2006icra.pdf},
address = {Orlando, FL, USA},
category = {conference}
}
@inproceedings{bennewitz06euros,
author = {Bennewitz, M. and Stachniss, C. and Burgard, W. and Behnke, S.},
title = {Metric Localization with Scale-Invariant Visual Features using a Single Perspective Camera},
booktitle = {European Robotics Symposium 2006},
volume = {22},
pages = {143--157},
year = 2006,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/bennewitz06euros.pdf},
editor = {H.I. Christiensen},
publisher = {Springer Verlag Berlin Heidelberg, Germany},
series = {STAR Springer tracts in advanced robotics},
isbn = {3-540-32688-X}
}
@proceedings{RSS06,
title = {Proc.~of the Robotics - Science and Systems (RSS)},
year = 2006,
editor = {Sukhatme, G. and Schaal, S. and Fox, D. and
Burgard, W.}
}
@inproceedings{mucientes2006iros,
author = {Mucientes, M. and Burgard, W.},
title = {Multi-Hypothesis Tracking of Clusters of People},
booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = 2006,
doi = {10.1109/IROS.2006.282614}
}
@mastersthesis{grzonka06thesis,
author = {Grzonka, S.},
title = {Untersuchungen zur Genauigkeit von SLAM- Verfahren mit Partikel-Filtern},
school = {University of Freiburg, Department of Computer Science},
year = 2006,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/Grzonka_Diplomarbeit.pdf},
note = {In German}
}
@inproceedings{lamon06irosws,
author = {Lamon, P. and Stachniss, C. and Triebel, R. and Pfaff, P. andPlagemann, C. and Grisetti, G. and Kolski, S. and Burgard, W. and Siegwart, R.},
title = {Mapping with an Autonomous Car},
booktitle = {Proc.~of the IEEE/RSJ Int.~Conf.~on Intelligent Robots and Systems (IROS)},
year = 2006,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/lamon06iros.pdf},
address = {Beijing, China},
abstract = {In this paper, we present an approach towards
mapping and safe navigation in real, large-scale
environments with an autonomous car. The goal is to
enable the car to autonomously navigate on roads
while avoiding obstacles and while simultaneously
learning an accurate three-dimensional model of the
environment. To achieve these goals, we apply
probabilistic state estimation techniques, network-
based pose optimization, and a sensor-based
traversability analysis approach. In order to
achieve fast map learning, our system compresses
the sensor data using multi-level surface maps. The
overall system runs on a modified Smart car
equipped with different types of sensors. We
present several results obtained from extensive
experiments which illustrate the capabilities of
our vehicle.}
}
@inproceedings{pfaff06euros,
author = {Pfaff, P. and Burgard, W. and Fox, D.},
title = {Robust Monte-Carlo Localization using Adaptive Likelihood Models},
booktitle = {European Robotics Symposium 2006},
volume = {22},
pages = {181--194},
year = 2006,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/pfaff06euros.pdf},
editor = {H.I. Christiensen},
publisher = {Springer-Verlag Berlin Heidelberg, Germany},
series = {springerstaradvanced},
isbn = {3-540-32688-X}
}
@inproceedings{triebel06iros,
author = {R. Triebel and P. Pfaff and W. Burgard},
title = {Multi Level Surface Maps for Outdoor Terrain Mapping and Loop Closing},
booktitle = {Proc.~of the IEEE/RSJ Int.~Conf.~on Intelligent Robots and Systems (IROS)},
year = 2006,
doi = {10.1109/IROS.2006.282632},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/triebel06iros.pdf}
}
@article{cocora06ki,
author = {Cocora, A. and Kersting, K. and Plagemann, C. and Burgard, W. and De Raedt, L.},
title = {Learning Relational Navigation Policies},
journal = {KI - K{\"u}nstliche Intelligenz, Themenheft Lernen und Selbstorganisation von Verhalten},
volume = {3},
pages = {12--18},
year = 2006
}
@inproceedings{cocora06iros,
author = {Cocora, A. and Kersting, K. and Plagemann, C. and Burgard, W. and De Raedt, L.},
title = {Learning Relational Navigation Policies},
booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = 2006,
doi = {10.1109/IROS.2006.282061},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/cocora06iros.pdf},
address = {Beijing, China},
abstract = {Navigation is one of the fundamental tasks for a
mobile robot. The majority of path planning
approaches has been designed to entirely solve the
given problem from scratch given the current and
goal configurations of the robot. Although these
approaches yield highly efficient plans, the
computed policies typically do not transfer to
other, similar tasks. We propose to learn
relational decision trees as abstract navigation
strategies from example paths. Relational
abstraction has several interesting and important
properties. First, it allows a mobile robot to
generalize navigation plans from specific examples
provided by users or exploration. Second, the
navigation policy learned in one environment can be
transferred to unknown environments. In several
experiments with real robots in a real environment
and in simulated runs, we demonstrate the
usefulness of our approach.}
}
@inproceedings{plagemann06euros,
author = {Plagemann, C. and Stachniss, C. and Burgard, W.},
title = {Efficient Failure Detection for Mobile Robots using Mixed-Abstraction Particle Filters},
booktitle = {European Robotics Symposium 2006},
volume = {22},
pages = {93--107},
year = 2006,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/plagemann06euros.pdf},
editor = {H.I. Christensen},
publisher = {Springer-Verlag Berlin Heidelberg, Germany},
series = {STAR Springer tracts in advanced robotics},
isbn = {3-540-32688-X}
}
@inproceedings{gil2006icinco,
author = {Arturo Gil, A. and Reinoso, O. and Fern\'{a}ndez, C. and Asunci\'{o}n Vicente, M. and Rottmann, A. and Mart\'{i}nez Mozos, O.},
title = {Simultaneous localization and mapping in unmodified environments using stereo vision},
booktitle = {Proc.~of the Int.~Conf.~on Informatics in Control, Automation, and Robotics},
pages = {302--309},
year = 2006,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/gil06icinco.pdf}
}
@inproceedings{meier06sensor,
author = {Meier, D. and Stachniss, C. and Burgard, W.},
title = {Cooperative Exploration With Multiple Robots Using Low Bandwidth Communication},
booktitle = {Informationsfusion in der Mess- und Sensortechnik},
pages = {145--157},
year = 2006,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/meier06sensor.pdf},
editor = {Beyerer, J. and Puente Le\'{o}n, F. and Sommer,
K.-D.},
isbn = {3-86644-053-7}
}
@inproceedings{gil06iros,
author = {Gil, A. and Reinoso, O. and Mart\'{i}nez-Mozos, O. and Stachniss, C. and Burgard, W.},
title = {Improving Data Association in Vision-based {SLAM}},
booktitle = {Proc.~of the IEEE/RSJ Int.~Conf.~on Intelligent Robots and Systems (IROS)},
year = 2006,
doi = {10.1109/IROS.2006.282483},
address = {Beijing, China}
}
@article{sonntag06endod,
author = {Sonntag, D. and Stachniss-Carp, S. and Stachniss, C. and Stachniss, V.},
title = {Determination of Root Canal Curvatures before and after Canal Preparation (Part II): A Method based on Numeric Calculus},
journal = {Aust Endod J},
volume = {32},
pages = {16--25},
year = 2006,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/sonntag06endod.pdf}
}
@phdthesis{stachniss06phd,
author = {Stachniss, C.},
title = {Exploration and Mapping with Mobile Robots},
school = {University of Freiburg, Department of Computer Science},
year = 2006,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/stachniss06phd.pdf}
}
@inproceedings{grisetti06icra,
author = {Grisetti, G. and Tipaldi, G.D. and Stachniss, C. and Burgard, W. and Nardi, D.},
title = {Speeding-Up Rao-Blackwellized {SLAM}},
booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
pages = {442--447},
year = 2006,
doi = {10.1109/ROBOT.2006.1641751},
url = {http://ais.informatik.uni-freiburg.de/~tipaldi/papers/grisettiICRA06.pdf},
address = {Orlando, FL, USA}
}
@inproceedings{stachniss05isrr,
author = {Cyrill Stachniss and Oscar Martinez Mozos and Axel Rottmann and Wolfram Burgard},
title = {Semantic Labeling of Places},
booktitle = {International Symposium of Robotics Research},
year = 2005,
month = oct,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/stachniss05isrr.pdf},
link = {http://ais.informatik.uni-freiburg.de/~rottmann/publication/stachniss05isrr.pdf},
address = {San Francisco, CA, USA},
category = {workshop}
}
@inproceedings{rottmann05aaai,
author = {Axel Rottmann and Oscar Martinez Mozos and Cyrill Stachniss and Wolfram Burgard},
title = {Semantic Place Classification of Indoor Environments with Mobile Robots using Boosting.},
booktitle = {Proceedings of the National Conference on Artificial Intelligence},
pages = {1306--1311},
year = 2005,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/rottmann05aaai.pdf},
link = {http://www2.informatik.uni-freiburg.de/~omartine/publications/rottmann2005aaai.html},
video = {http://www2.informatik.uni-freiburg.de/~omartine/multimedia/fr079-6classes-hmm2.anim.avi},
address = {Pittsburgh, PA, USA},
category = {conference}
}
@inproceedings{martinez05icra,
author = {Oscar Martinez Mozos and Cyrill Stachniss and Wolfram Burgard},
title = {Supervised Learning of Places from Range Data using {A}da{B}oost},
booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation},
pages = {1742--1747},
year = 2005,
doi = {10.1109/ROBOT.2005.1570363},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/martinez05icra.pdf},
link = {http://ais.informatik.uni-freiburg.de/~omartine/publications/martinez2005icra.html},
video = {http://ais.informatik.uni-freiburg.de/~omartine/multimedia/fr079-online-classification.anim.avi},
address = {Barcelona, Spain},
finalistbeststudentpaper = {http://ais.informatik.uni-
__________________freiburg.de/~omartine/images/icra
05-best-student- __________________paper-
finalist.jpg},
category = {conference}
}
@incollection{bennewitz05geriatrie,
author = {Bennewitz, M. and Burgard, W.},
title = {Serviceroboter f{\"u}r den {P}flegebereich},
booktitle = {Handbuch Geriatrie. Lehrbuch fr Praxis und Klinik},
year = 2005,
address = {D{\"u}sseldorf},
editor = {A. M. Raem and H. Fenger and G. F. Kolb and T.
Nikolaus and L. Pientka and R. Rychlik and T.
V{\"o}mel},
note = {In German},
publisher = {Deutsche Krankenhaus Verlagsgesellschaft mbH}
}
@article{bennewitz05ijrr,
author = {Bennewitz, M. and Burgard, W. and Cielniak, G. and Thrun, S.},
title = {Learning Motion Patterns of People for Compliant Robot Motion},
journal = {The International Journal of Robotics Research (IJRR)},
volume = {24},
number = {1},
year = 2005,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/bennewitz05ijrr.pdf}
}
@book{Choset04,
author = {Choset, H. and Lynch, K. and Hutchinson, S. and Kantor, G. and Burgard, W. and Kavraki, L. and Thrun, S.},
title = {Principles of Robot Motion: Theory, Algorithms and Implementation},
year = 2005,
publisher = {MIT Press}
}
@book{Thrun05,
author = {Thrun, S. and Burgard, W. and Fox, D.},
title = {Probabilistic Robotics},
year = 2005,
publisher = {MIT Press}
}
@article{Thrun05MineMapping,
author = {S. Thrun and S. Thayer and W. Whittaker and C. Baker and W. Burgard and D. Ferguson and D. H\"{a}hnel and M. Montemerlo and A. Morris and Z. Omohundro and C. Reverte and W. Whittaker},
title = {Autonomous Exploration and Mapping of Abandoned Mines},
journal = {IEEE Robotics \& Automation Magazine},
volume = {11},
number = {4},
year = 2005,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/ieeeram-mine-mapping.pdf}
}
@article{Wolf04ieeetro,
author = {Wolf, J. and Burgard, W. and Burkhardt, H.},
title = {Robust Vision-based Localization by Combining an Image Retrieval System with {M}onte {C}arlo Localization},
journal = {IEEE Transactions on Robotics},
volume = {21},
number = {2},
pages = {208--216},
year = 2005,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/wolf-ieeetro05.pdf}
}
@inproceedings{pfaff05fsr,
author = {P. Pfaff and W. Burgard},
title = {An Efficient Extension of Elevation Maps for Outdoor Terrain Mapping},
booktitle = {Proc. of the International Conference on Field and Service Robotics (FSR)},
pages = {165--176},
year = 2005,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/pfaff_fsr05.pdf},
address = {Port Douglas, QLD, Australia}
}
@inproceedings{plagemann05ams,
author = {Plagemann, C. and Burgard, W.},
title = {Sequential Parameter Estimation for Fault Diagnosis in Mobile Robots Using Particle Filters.},
booktitle = {Autonome Mobile Systeme 2005 (AMS)},
pages = {197--202},
year = 2005,
publisher = {Springer}
}
@inproceedings{plagemann05dagm,
author = {Plagemann, C. and M{\"u}ller, T. and Burgard, W.},
title = {Vision-Based 3D Object Localization Using Probabilistic Models of Appearance.},
booktitle = {Pattern Recognition, 27th DAGM Symposium, Vienna, Austria},
volume = {3663},
pages = {184--191},
year = 2005,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/plagemann05dagm.pdf},
editor = {Walter G. Kropatsch and Robert Sablatnig and Allan
Hanbury},
publisher = {Springer},
series = {Lecture Notes in Computer Science}
}
@mastersthesis{rottmann05masterthesis,
author = {Rottmann, A.},
title = {Bild- und laserbasierte Klassifikation von Umgebungen mit mobilen Robotern},
school = {University of Freiburg, Department of Computer Science},
year = 2005,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/rottmann05mt.pdf},
note = {In German}
}
@article{stachniss05ar,
author = {Stachniss, C. and H\"{a}hnel, D. and Burgard, W. and Grisetti, G.},
title = {On Actively Closing Loops in Grid-based {FastSLAM}},
journal = {Advanced Robotics},
volume = {19},
number = {10},
pages = {1059--1080},
year = 2005,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/stachniss05ar.pdf}
}
@inproceedings{stachniss05robotics,
author = {Stachniss, C. and Grisetti, G. and Burgard, W.},
title = {Information Gain-based Exploration Using Rao- Blackwellized Particle Filters},
booktitle = {Proc.~of Robotics: Science and Systems (RSS)},
pages = {65--72},
year = 2005,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/stachniss05rss.pdf},
address = {Cambridge, MA, USA}
}
@inproceedings{meier05ecmr,
author = {Meier, D. and Stachniss, C. and Burgard, W.},
title = {Coordinating Multiple Robots During Exploration Under Communication With Limited Bandwidth},
booktitle = {Proc.~of the European Conference on Mobile Robots (ECMR)},
pages = {26--31},
year = 2005,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/meier05ecmr.pdf},
address = {Ancona, Italy}
}
@inproceedings{stachniss05aaai,
author = {Stachniss, C. and Burgard, W.},
title = {Mobile Robot Mapping and Localization in Non-Static Environments},
booktitle = {Proc.~of the National Conf.~on Artificial Intelligence (AAAI)},
pages = {1324--1329},
year = 2005,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/stachniss05aaai.pdf},
address = {Pittsburgh, PA, USA}
}
@article{trahaniasWebfair,
author = {Trahanias, P. and Burgard, W. and Argyros, A. and H\"{a}hnel, D. and Baltzakis, H. and Pfaff, P. and Stachniss, C.},
title = {{TOURBOT} and {WebFAIR}: Web-Operated Mobile Robots for Tele-Presence in Populated Exhibitions},
journal = {IEEE Robotics \& Automation Magazine},
volume = {12},
number = {2},
pages = {77--89},
year = 2005
}
@article{burgard05tro,
author = {W. Burgard and M. Moors and C. Stachniss and F. Schneider},
title = {Coordinated Multi-Robot Exploration},
journal = {IEEE Transactions on Robotics},
volume = {21},
number = {3},
pages = {376--386},
year = 2005,
doi = {10.1109/TRO.2004.839232},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/burgard05tro.pdf}
}
@inproceedings{burgard05snowbird,
author = {Burgard, W. and Stachniss, C. and Grisetti, G.},
title = {Information Gain-based Exploration Using Rao- Blackwellized Particle Filters},
booktitle = {Proc. of the Learning Workshop (Snowbird)},
year = 2005,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/burgard05snowbird.pdf},
address = {Snowbird, UT, USA}
}
@inproceedings{stachniss05icra,
author = {Stachniss, C. and Grisetti, G. and Burgard, W.},
title = {Recovering Particle Diversity in a Rao-Blackwellized Particle Filter for {SLAM} after Actively Closing Loops},
booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
pages = {667--672},
year = 2005,
doi = {10.1109/ROBOT.2005.1570192},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/stachniss05icra.pdf},
address = {Barcelona, Spain}
}
@inproceedings{grisetti05icra,
author = {Grisetti, G. and Stachniss, C. and Burgard, W.},
title = {Improving Grid-based {SLAM} with Rao- Blackwellized Particle Filters by Adaptive Proposals and Selective Resampling},
booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
pages = {2443--2448},
year = 2005,
doi = {10.1109/ROBOT.2005.1570477},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/grisetti05icra.pdf},
address = {Barcelona, Spain}
}
@inproceedings{triebel05aaai,
author = {Triebel, R. and Burgard, W.},
title = {Improving Simultaneous Localization and Mapping in 3D Using Global Constraints},
booktitle = {Proc.~of the Conf.~of the Association for the Advancement of Artificial Intelligence (AAAI)},
year = 2005,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/AAAI051TriebelR.pdf}
}
@inproceedings{triebel05icra,
author = {Triebel, R. and Burgard, W. and Dellaert, F.},
title = {Using Hierarchical EM to Extract Planes from 3D Range Scans},
booktitle = {Proc.~of the IEEE International Conference on Robotics and Automation (ICRA)},
year = 2005,
doi = {10.1109/ROBOT.2005.1570803},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/triebel05using.pdf}
}
@inproceedings{wolf05icra,
author = {Wolf, D.F. and Sukhatme, G. and Fox, D. and Burgard, W.},
title = {Autonomous Terrain Mapping and Classification Using Hidden Markov Models},
booktitle = {Proc.~of the IEEE International Conference on Robotics and Automation (ICRA)},
year = 2005,
doi = {10.1109/ROBOT.2005.1570411},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/wolf05icra.pdf}
}
@mastersthesis{martinez2004thesis,
author = {Oscar Martinez Mozos},
title = {Supervised Learning of Places from Range Data using AdaBoost},
school = {University of Freiburg},
year = 2004,
month = dec,
url = {http://ais.informatik.uni-freiburg.de/~omartine/publications/martinez2004thesis.html},
ps = {http://ais.informatik.uni-freiburg.de/~omartine/publications/martinez2004thesis.ps.gz},
category = {thesis}
}
@phdthesis{bennewitz04phd,
author = {Bennewitz, M.},
title = {Mobile Robot Navigation in Dynamic Environments},
school = {University of Freiburg, Department of Computer Science},
year = 2004,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/thesis_bennewitz.pdf}
}
@inproceedings{bennewitz04soave,
author = {Bennewitz, M. and Pastrana, J. and Burgard, W.},
title = {Active Localization of Persons with a Mobile Robot Based on Learned Motion Behaviors},
booktitle = {Proc.~of the third Workshop on Selforganization of Adaptive Behavior (SOAVE)},
year = 2004,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/bennewitz04soave.pdf}
}
@article{Thrun03IEEETRANS,
author = {Thrun, S. and Martin, C. and Liu, Y. and H{\"a}hnel, D. and Emery Montemerlo, R. and Deepayan, C. and Burgard, W.},
title = {A Real-Time Expectation Maximization Algorithm for Acquiring Multi-Planar Maps of Indoor Environments with Mobile Robots},
journal = {IEEE Transactions on Robotics and Automation},
volume = {20},
number = {3},
pages = {433--442},
year = 2004,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/thrun.3d-planar-mapping.pdf}
}
@inproceedings{haehnel04rfid,
author = {H{\"a}hnel, D. and Burgard, W. and Fox, D. and Fishkin, K. and Philipose, M.},
title = {Mapping and Localization with {RFID} Technology},
booktitle = {Proc.~of the IEEE International Conference on Robotics \& Automation (ICRA)},
year = 2004,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/haehnel.icra04-rfid.pdf}
}
@inproceedings{sack04lines,
author = {Sack, D. and Burgard, W.},
title = {A Comparison of Methods for Line Extraction from Range Data},
booktitle = {Proc.~of the IVAC Symposium on Intelligent Autonomous Vehicles (IAV)},
year = 2004,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/sack-iav04.pdf}
}
@inproceedings{veeck04poly,
author = {Veeck, M. and Burgard, W.},
title = {Learning Polyline Maps from Range Scan Data Acquired with Mobile Robots},
booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = 2004,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/veeck04iros.pdf}
}
@mastersthesis{plagemann04mastersThesis,
author = {Plagemann, C.},
title = {{A}nsichtsbasierte {E}rkennung und {L}okalisierung von {O}bjekten zur {I}nitialisierung eines {V}erfolgungsprozesses},
school = {University of Karlsruhe, Department of Computer Science and Fraunhofer Institute IITB, Karlsruhe},
year = 2004,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/plagemann04mastersThesis.pdf},
note = {In German}
}
@inproceedings{stachniss04soave,
author = {Stachniss, C. and Grisetti, G. and H\"{a}hnel, D. and Burgard, W.},
title = {Improved Rao-Blackwellized Mapping by Adaptive Sampling and Active Loop-Closure},
booktitle = {Proc.~of the Workshop on Self-Organization of AdaptiVE behavior (SOAVE)},
pages = {1--15},
year = 2004,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/stachniss04soave.pdf},
address = {Ilmenau, Germany}
}
@inproceedings{stachniss04iros,
author = {Stachniss, C. and H\"{a}hnel, D. and Burgard, W.},
title = {Exploration with Active Loop-Closing for {FastSLAM}},
booktitle = {Proc.~of the IEEE/RSJ Int.~Conf.~on Intelligent Robots and Systems (IROS)},
pages = {1505--1510},
year = 2004,
doi = {10.1109/IROS.2004.1389609},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/stachniss04iros.pdf},
address = {Sendai, Japan}
}
@inproceedings{cielniak03ecmr,
author = {Cielniak, G. and Bennewitz, M. and Burgard, W.},
title = {Robust Localization of Persons Based on Learned Motion Patterns},
booktitle = {Proc.~of the European Conference on Mobile Robots (ECMR)},
year = 2003,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/cielniak03ecmr.pdf}
}
@inproceedings{cielniak03ijcai,
author = {Cielniak, G. and Bennewitz, M. and Burgard, W.},
title = {Where is ...? {L}earning and Utilizing Motion Patterns of Persons with Mobile Robots},
booktitle = {Proc.~of the International Joint Conference on Artificial Intelligence (IJCAI)},
year = 2003,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/cielniak03ijcai.pdf}
}
@inproceedings{bennewitz03icra,
author = {Bennewitz, M. and Burgard, W. and Thrun, S.},
title = {Adapting Navigation Strategies Using Motions Patterns of People},
booktitle = {Proc.~of the IEEE International Conference on Robotics \& Automation (ICRA)},
year = 2003,
doi = {10.1109/ROBOT.2003.1241887},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/bennewitz03icra.pdf}
}
@inproceedings{bennewitz03vspets,
author = {Bennewitz, M. and Cielniak, G. and Burgard, W.},
title = {Utilizing Learned Motion Patterns to Robustly Track Persons},
booktitle = {Proc.~of the Joint IEEE International Workshop on Visual Surveillance and Performance Evaluation of Tracking and Surveillance (VS-PETS)},
year = 2003,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/bennewitz03vspets.pdf}
}
@inproceedings{Blanco02Image,
author = {Blanco, J. and Burgard, W. and Sanz, R. and Fernandez, J.L.},
title = {Fast Face Detection for Mobile Robots by Integrating Laser Range Data with Vision},
booktitle = {Proc.~of the International Conference on Advanced Robotics (ICAR)},
year = 2003,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/icar2003blanco.pdf}
}
@article{Burgard03Tele,
author = {Burgard, W. and Trahanias, P. and H{\"a}hnel, D. and Moors, M. and Schulz, D. and Baltzakis, H. and Argyros, A.},
title = {Tele-presence in Populated Exhibitions through Web-operated Mobile Robots},
journal = {Journal of Autonomous Robots},
volume = {15},
pages = {299--316},
year = 2003,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/telePresence_jar.pdf}
}
@proceedings{ECMR03,
title = {Proc.~of the first {European} Conference on Mobile Robots (ECMR)},
year = 2003,
editor = {Borkowski, A. and Burgard, W. and Zingaretti, P.}
}
@article{Haehnel033D,
author = {H{\"a}hnel, D. and Burgard, W. and Thrun, S.},
title = {Learning compact 3D models of indoor and outdoor environments with a mobile robot},
journal = {Robotics and Autonomous Systems},
volume = {44},
number = {1},
pages = {15--27},
year = 2003,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/haehnel.ras-03.pdf}
}
@inproceedings{Haehnel03Dynamic,
author = {H{\"a}hnel, D. and Triebel, R. and Burgard, W. and Thrun, S.},
title = {Map Building with Mobile Robots in Dynamic Environments},
booktitle = {Proc.~of the IEEE International Conference on Robotics \& Automation (ICRA)},
year = 2003,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/haehnel_icra03.pdf}
}
@inproceedings{Haehnel03IJCAI,
author = {H{\"a}hnel, D. and Thrun, S. and Burgard, W.},
title = {An Extension of the {ICP} Algorithm for Modeling Nonrigid Objects with Mobile Robots},
booktitle = {Proc.~of the International Joint Conference on Artificial Intelligence (IJCAI)},
year = 2003,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/haehnel-ijcai03.pdf}
}
@article{Haehnel03JRSJ,
author = {H{\"a}hnel, D. and Schulz, D. and Burgard, W.},
title = {Mobile Robot Mapping in Populated Environments},
journal = {Journal of the Robotics Society of Japan (JRSJ)},
volume = {7},
number = {17},
pages = {579--598},
year = 2003,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/haehnel-populated.pdf}
}
@article{Schulz03IJRR,
author = {Schulz, D. and Burgard, W. and Fox, D. Cremers, A.B.},
title = {People Tracking with a Mobile Robot Using Sample-based Joint Probabilistic Data Association Filters},
journal = {International Journal of Robotics Research (IJRR)},
volume = {22},
number = {2},
pages = {99--116},
year = 2003,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/people-tracking-ijrr-03.ps.gz}
}
@inproceedings{Thrun03ICRA,
author = {Thrun, S. and Ferguson, D. and H{\"a}hnel, D. and Montemerlo, M. and Triebel, R. and Burgard, W.},
title = {A System for Volumetric Robotic Mapping of Abandoned Mines},
booktitle = {Proc.~of the IEEE International Conference on Robotics \& Automation (ICRA)},
year = 2003,
doi = {10.1109/ROBOT.2003.1242260},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/thrun.mine-mapping.pdf}
}
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author = {Trahanias, P. and Burgard, W. and H{\"a}hnel, D. and Moors, M. and Schulz, D. and Baltzakis, H. and Argyros, A.},
title = {Interactive Tele-presence in Populated Exhibitions through {W}eb-operated Robots},
booktitle = {Proc.~of the International Conference on Advanced Robotics (ICAR)},
year = 2003
}
@inproceedings{ferguson03nips,
author = {Ferguson, D. and Morris, A. and H{\"a}hnel, D. and Baker, C. and Omohundro, Z. and Reverte, C. and Thayer, S. and Whittaker, W. and Burgard, W. and Thrun, S.},
title = {An Autonomous Robotic System for Mapping Abandoned Mines},
booktitle = {Proc.~of the Conference on Neural Information Processing (NIPS)},
year = 2003,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/ferguson-nips03.pdf}
}
@inproceedings{haehnel03iros,
author = {H{\"a}hnel, D. and Burgard, W. and Fox, D. and Thrun, S.},
title = {A highly efficient {FastSLAM} algorithm for generating cyclic maps of large-scale environments from raw laser range measurements},
booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = 2003,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/haehnel-iros03.pdf}
}
@inproceedings{haehnel03isrr,
author = {H{\"a}hnel, D. and Thrun, S. and Wegbreit, B. and Burgard, W.},
title = {Towards Lazy Data Association in {SLAM}},
booktitle = {Proc.~of the Int. Symposium of Robotics Research (ISRR)},
year = 2003,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/haehnel-isrr03.pdf}
}
@inproceedings{stachniss03dagstuhl,
author = {Stachniss, C. and H\"{a}hnel, D. and Burgard, W.},
title = {Grid-based {FastSLAM} and Exploration with Active Loop Closing},
booktitle = {Online Proc.~of the Dagstuhl Seminar on Robot Navigation (Dagstuhl Seminar~03501)},
year = 2003,
address = {Dagstuhl, Germany}
}
@inproceedings{stachniss03iros,
author = {Stachniss, C. and Burgard, W.},
title = {Mapping and Exploration with Mobile Robots using Coverage Maps},
booktitle = {Proc.~of the IEEE/RSJ Int.~Conf.~on Intelligent Robots and Systems (IROS)},
pages = {476--481},
year = 2003,
doi = {10.1109/IROS.2003.1250673},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/stachniss03iros.pdf},
address = {Las Vegas, NV, USA}
}
@inproceedings{stachniss03ecmr,
author = {Stachniss, C. and Burgard, W.},
title = {Using Coverage Maps to Represent the Environment of Mobile Robots},
booktitle = {Proc.~of the European Conference on Mobile Robots (ECMR)},
pages = {59--64},
year = 2003,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/stachniss03ecmr.pdf},
address = {Radziejowice, Poland}
}
@inproceedings{stachniss03ijcai,
author = {Stachniss, C. and Burgard, W.},
title = {Exploring Unknown Environments with Mobile Robots using Coverage Maps},
booktitle = {Proc.~of the Int.~Conf.~on Artificial Intelligence (IJCAI)},
pages = {1127--1132},
year = 2003,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/stachniss03ijcai.pdf},
address = {Acapulco, Mexico}
}
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author = {Bennewitz, M. and Burgard, W. and Thrun, S.},
title = {Finding and Optimizing Solvable Priority Schemes for Decoupled Path Planning Techniques for Teams of Mobile Robots},
journal = {Robotics and Autonomous Systems},
volume = {41},
year = 2002,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/bennewitz02ras.pdf}
}
@inproceedings{bennewitz02iros,
author = {Bennewitz, M. and Burgard, W. and Thrun, S.},
title = {Using {EM} to Learn Motion Behaviors of Persons with Mobile Robots},
booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = 2002,
doi = {10.1109/IRDS.2002.1041440},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/bennewitz02iros.pdf}
}
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author = {Bennewitz, M. and Burgard, W. and Thrun, S.},
title = {Learning Motion Patterns of Persons for Mobile Service Robots},
booktitle = {Proc.~of the IEEE International Conference on Robotics \& Automation (ICRA)},
year = 2002,
doi = {10.1109/ROBOT.2002.1014268},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/bennewitz02icra.pdf}
}
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author = {Bennewitz, M. and Burgard, W. and Thrun, S.},
title = {Learning Motion Patterns of Persons for Mobile Service Robots},
booktitle = {Proc. of the VDI-Conference Robotik 2002 (Robotik)},
year = 2002
}
@incollection{Bur02Col,
author = {Burgard, W. and Moors, M. and Schneider, F.},
title = {Collaborative Exploration of Unknown Environments with Teams of Mobile Robots},
booktitle = {Advances in Plan-Based Control of Robotic Agents},
volume = {2466},
year = 2002,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/burgard02dagstuhl.ps.gz},
editor = {Beetz, M. and Hertzberg, J. and Ghallab, M. and
Pollack, M.E.},
publisher = {Springer Verlag},
series = {LNCS}
}
@inproceedings{Haehnel02Mapping,
author = {H{\"a}hnel, D. and Schulz, D. and Burgard, W.},
title = {Map Building with Mobile Robots in Populated Environments},
booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = 2002,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/haehnel_iros02.pdf}
}
@inproceedings{Schulz02Statistical,
author = {Schulz, D. and Moors, M. and Burgard, W. and Cremers, A.B.},
title = {A Statistical Approach to Tracking Multiple Moving People with a Mobile Robot and its Application to Improved Tele-Presence},
booktitle = {Proc.~of the VDI-Conference Robotik 2002 (Robotik)},
year = 2002
}
@inproceedings{Wolf02Image,
author = {Wolf, J. and Burgard, W. and Burkhardt, H.},
title = {Using an Image Retrieval System for Vision-based Mobile Robot Localization},
booktitle = {Proc. of the International Conference on Image and Video Retrieval (CIVR)},
year = 2002,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/wolf_civr02.pdf}
}
@inproceedings{Wolf02Robust,
author = {Wolf, J. and Burgard, W. and Burkhardt, H.},
title = {Robust Vision-based Localization for Mobile Robots using an Image Retrieval System Based on Invariant Features},
booktitle = {Proc.~of the IEEE International Conference on Robotics \& Automation (ICRA)},
year = 2002,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/wolf_icra02.pdf}
}
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author = {Burgard, W. and Trahanias, P. and H{\"a}hnel, D. and Moors, M. and Schulz, D. and Baltzakis, H. and Argyros A.},
title = {TOURBOT and WebFAIR: Web-Operated Mobile Robots for Tele-Presence in Populated Exhibitions},
booktitle = {Proc.~of the IROS 02 Workshop on Robots in Exhibition},
year = 2002,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/burgard-iros02Workshop.pdf}
}
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author = {H{\"a}hnel, D. and Burgard, W.},
title = {Probabilistic Matching for 3D Scan Registration},
booktitle = {Proc.~of the VDI-Conference Robotik 2002 (Robotik)},
year = 2002,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/haehnel-robotik2002.pdf}
}
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author = {Stachniss, C. and Burgard, W.},
title = {An Integrated Approach to Goal-directed Obstacle Avoidance under Dynamic Constraints for Dynamic Environments},
booktitle = {Proc.~of the IEEE/RSJ Int.~Conf.~on Intelligent Robots and Systems (IROS)},
pages = {508--513},
year = 2002,
doi = {10.1109/IRDS.2002.1041441},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/stachniss02iros.pdf},
address = {Lausanne, Switzerland}
}
@mastersthesis{stachniss02diplom,
author = {Stachniss, C.},
title = {{Z}ielgerichtete {K}ollisionsvermeidung f{\"u}r mobile {R}oboter in dynamischen {U}mgebungen},
school = {University of Freiburg, Department of Computer Science},
year = 2002,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/stachniss02diplom.pdf},
note = {In German}
}
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author = {Beetz, M. and Arbuckle, T. and Belker, T. and Bennewitz, M. and Burgard, W. and Cremers, A.~B. and Fox, D. and Grosskreutz, H. and H{\"a}hnel, D. and Schulz, D.},
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author = {Bennewitz, M. and Burgard, W. and Thrun, S.},
title = {Exploiting Constraints During Prioritized Path Planning for Teams of Mobile Robots},
booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = 2001,
doi = {10.1109/IROS.2001.973389},
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}
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author = {Bennewitz, M. and Burgard, W. and Thrun, S.},
title = {Constraint-based Optimization of Priority Schemes for Decoupled Path Planning Techniques},
booktitle = {Proc. of the 24th German / 9th Austrian Conference on Artificial Intelligence},
year = 2001,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/bennewitz01ki.pdf},
publisher = {Springer Verlag}
}
@inproceedings{bennewitz01icra,
author = {Bennewitz, M. and Burgard, W. and Thrun, S.},
title = {Optimizing Schedules for Prioritized Path Planning of Multi-Robot Systems},
booktitle = {Proc.~of the IEEE International Conference on Robotics \& Automation (ICRA)},
year = 2001,
doi = {10.1109/ROBOT.2001.932565},
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}
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author = {Bennewitz, M. and Burgard, W.},
title = {Finding Solvable Priority Schemes for Decoupled Path Planning Techniques for Teams of Mobile Robots},
booktitle = {Proc.~of the 9th International Symposium on Intelligent Robotic Systems (SIRS)},
year = 2001,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/bennewitz01sirs.pdf}
}
@inproceedings{Liu01Us,
author = {Liu, Y. and Emery, R. and Chakrabarti, D. and Burgard, W. and Thrun, S.},
title = {Using {EM} to Learn 3{D} Models of Indoor Environments with Mobile Robots},
booktitle = {Proc.~of the International Conference on Machine Learning (ICML)},
year = 2001,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/thrun.3D-EM.ps.gz}
}
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author = {Schulz, D. and Burgard, W.},
title = {Probabilistic State Estimation of Dynamic Objects with a Moving Mobile Robot},
journal = {Robotics and Autonomous Systems},
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number = {2-3},
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year = 2001,
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}
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author = {Burgard, W. and Schulz, D.},
title = {Robust Visualization for Web-based Control of Mobile Robots},
booktitle = {Robots on the Web: Physical Interaction through the Internet},
year = 2001,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/MIT-Press.ps.gz},
editor = {Goldberg, K. and Siegwart, R.},
publisher = {MIT-Press}
}
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author = {Schulz, D. and Burgard, W. and Fox, D. and Cremers, A.B.},
title = {Tracking Multiple Moving Targets with a Mobile Robot using Particle Filters and Statistical Data Association},
booktitle = {Proc.~of the IEEE International Conference on Robotics \& Automation (ICRA)},
year = 2001,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/multi-tracking-01.ps.gz}
}
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author = {Schulz, D. and Burgard, W. and Fox, D. and Cremers, A.B.},
title = {Tracking Multiple Moving Objects with a Mobile Robot},
booktitle = {Proc.~of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR)},
year = 2001,
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}
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author = {Thrun, S. and Fox, D. and Burgard, W. and Dellaert. F.},
title = {Robust {M}onte-{C}arlo Localization for Mobile Robots},
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number = {1-2},
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year = 2001,
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}
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author = {H{\"a}hnel, D. and Burgard, W. and Thrun, S.},
title = {Learning Compact 3D Models of Indoor and Outdoor Environments with a Mobile Robot},
booktitle = {Proc.~of the fourth {European} workshop on advanced mobile robots (EUROBOT)},
year = 2001
}
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author = {Thrun, S. and Beetz, M. and Bennewitz, M. and Burgard, W. and Cremers, A.~B. and Dellaert, D. and Fox, D. and H{\"a}hnel, D. and Rosenberg, C. and Schulte, J. and Schulz, D.},
title = {Probabilistic Algorithms and the Interactive Museum Tour-Guide Robot Minerva},
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year = 2000,
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}
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author = {Bennewitz, M. and Burgard, W.},
title = {An Experimental Comparison of Path Planning Techniques for Teams of Mobile Robots},
booktitle = {Proc.~of the Fachgespr{\"a}che Autonome Mobile Systeme (AMS)},
year = 2000,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/bennewitz00ams.pdf}
}
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author = {Bennewitz, M. and Burgard, W.},
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year = 2000,
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author = {Bennewitz, M. and Burgard, W.},
title = {A Probabilistic Method for Planning Collision- free Trajectories of Multiple Mobile Robots},
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year = 2000,
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}
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author = {Burgard, W. and Moors, M. and Fox, D. and Simmons, R. and Thrun, S.},
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booktitle = {Proc.~of the IEEE International Conference on Robotics \& Automation (ICRA)},
year = 2000,
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author = {Burgard, W. and Cremers, A.B. and Fox, D. and H{\"a}hnel, D. and Lakemeyer, G. and Schulz, D. and Steiner, W. and Thrun, S.},
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author = {Fox, D. and Burgard, W. and Kruppa, H. and Thrun, S.},
title = {Efficient multi-robot localization based on {M}onte {C}arlo approximation},
booktitle = {Robotics Research: The Ninth International Symposium},
year = 2000,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/multi-mcl-isrr-99.ps.gz},
address = {London},
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publisher = {Springer-Verlag}
}
@incollection{Fox00Par,
author = {Fox, D. and Thrun, S. and Dellaert, F. and Burgard, W.},
title = {Particle filters for mobile robot localization},
booktitle = {Sequential {M}onte {C}arlo Methods in Practice},
year = 2000,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/particle-chapter-00.ps.gz},
address = {New York},
editor = {Doucet, A. and de Freitas, N. and Gordon, N.},
publisher = {Springer Verlag}
}
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author = {Fox, D. and Burgard, W. and Kruppa, H. and Thrun, S.},
title = {A Probabilistic Approach to Collaborative Multi-Robot Localization},
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year = 2000,
editor = {G{\"o}rz, G. and Rollinger, C.-R. and
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note = {In German},
publisher = {Oldenbourg}
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author = {Schulz, D. and Burgard, W. and Cremers, A.B.},
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year = 2000,
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author = {Simmons, R. and Apfelbaum, D. and Burgard, W. and Fox, D. and Moors, M. and Thrun, S. and Younes, H.},
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year = 2000,
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year = 2000,
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year = 1999,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/thrun99ki.pdf},
publisher = {Springer Verlag}
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year = 1999,
doi = {10.1109/ROBOT.1999.770401},
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author = {Burgard, W.},
title = {{PROSPERT}: An Expert System for the Syntesis of Chemical Processes},
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note = {In German}
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author = {Burgard, W.},
title = {Goal-directed Forward Chaining for Logic Programs},
school = {University of Bonn, Department of Computer Science},
year = 1991,
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author = {Burgard, W},
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year = 1995,
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}
@inproceedings{Bur96Est,
author = {Burgard, W. and Fox, D. and Hennig, D. and Schmidt, T.},
title = {Estimating the Absolute Position of a Mobile Robot Using Position Probability Grids},
booktitle = {Proc.~of the National Conference on Artificial Intelligence (AAAI)},
year = 1996,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/localize-aaai-96.pdf}
}
@inproceedings{Bur96Kno,
author = {Burgard, W. and Cremers, A.B. and Fox, D. and Heidelbach, M. and Kappel, A.M. and L{\"u}ttring\-haus-Kappel, S.},
title = {Knowledge-enhanced {CO}-monitoring in Coal Mines},
booktitle = {Proc.~of the Ninth International Conference on Industrial \& Engineering Applications of Artificial Intelligence \& Expert Systems},
year = 1996,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/iea-aie.ps.gz}
}
@inproceedings{Bur96Log,
author = {Burgard, W. and Cremers, A.B. and Fox, D. and Heidelbach, M. and Kappel, A.M. and L{\"u}ttringhaus-Kappel, S.},
title = {Logic Programming Tools Applied to Fire Detection in Hard-coal Mines},
booktitle = {Proc.~of the Joint International Conference and Symposium on Logic Programming},
year = 1996
}
@inproceedings{Bur96Pos,
author = {Burgard, W. and Fox, D. and Hennig, D. and Schmidt, T.},
title = {Position Tracking with Position Probability Grids},
booktitle = {Proc.~of the First Euromicro Workshop on Advanced Mobile Robots},
year = 1996,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/tracking.ps.gz},
publisher = {IEEE Computer Society Press}
}
@inproceedings{Bur97Act,
author = {Burgard, W. and Fox, D. and Thrun, S.},
title = {Active Mobile Robot Localization},
booktitle = {Proc.~of the International Joint Conference on Artificial Intelligence (IJCAI)},
year = 1997,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/active-ijcai-97.ps.gz}
}
@inproceedings{Bur97Fas,
author = {Burgard, W. and Fox, D. and Hennig, D.},
title = {Fast Grid-Based Position Tracking for Mobile Robots},
booktitle = {Proc.~of the German Conference on Artificial Intelligence (KI), Germany},
year = 1997,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/tracking-ki-97.ps.gz},
publisher = {Springer Verlag}
}
@misc{Bur97Mus,
author = {Burgard, W. and Cremers, A. B. and Fox, D. and H{\"a}hnel, D. and Lakemeyer, G. and Schulz, D. and Steiner, W. and Thrun, S.},
title = {The {{\em RHINO}} museum tour-guide project},
year = 1997,
howpublished = {\tt http://www.iai.uni-
bonn.de/\symbol{126}rhino/tourguide}
}
@inproceedings{Bur97aAct,
author = {Burgard, W. and Fox, D. and Thrun, S.},
title = {Active Mobile Robot Localization by Entropy Minimization},
booktitle = {Proc.~of the Second Euromicro Workshop on Advanced Mobile Robots},
year = 1997,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/active-eurobot-97.ps.gz},
publisher = {IEEE Computer Society Press}
}
@inproceedings{Bur98DML,
author = {Burgard, W. and Derr, A. and Fox, D. and Cremers, A.B.},
title = {Integrating global position estimation and position tracking for mobile robots: the {D}ynamic {M}arkov {L}ocalization approach},
booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = 1998,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/dml-iros-98.ps.gz}
}
@inproceedings{Bur98Int,
author = {Burgard, W. and Cremers, A.B. and Fox, D. and H{\"a}hnel, D. and Lakemeyer, G. and Schulz, D. and Steiner, W. and Thrun, S.},
title = {The Interactive Museum Tour-Guide Robot},
booktitle = {Proc.~of the National Conference on Artificial Intelligence (AAAI)},
year = 1998,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/museum-aaai98.ps.gz}
}
@inproceedings{Bur98Mus,
author = {Burgard, W. and Cremers, A.B. and Fox, D. and H{\"a}hnel, D. and Lakemeyer, G. and Schulz, D. and Steiner, W. and Thrun, S.},
title = {The Museum Tour-Guide Robot {RHINO}},
booktitle = {Proc.~of Fachgespr{\"a}ch Autonome Mobile Systeme {(AMS'98)}},
year = 1998,
address = {Karlsruhe, Germany}
}
@inproceedings{Bur98Rea,
author = {Burgard, W. and Fox, D. and H{\"a}hnel, D. and Lakemeyer, G. and Schulz, D. and Steiner, W. and Thrun, S. and Cremers, A.B.},
title = {Real Robots for the Real World --- The \emph{RHINO} Museum Tour-guide Project},
booktitle = {Proc.~of the AAAI 1998 Spring Symposium on Integrating Robotics Research: Taking the Next Leap},
year = 1998
}
@incollection{Bur98Ver,
author = {Burgard, W. and Cremers, A.B. and Fox, D. and H{\"a}hnel, D. and Kappel, A.M. and L{\"u}ttring\-haus{-}Kappel, S.},
title = {{V}erbesserte {B}randfr{\"u}herkennung im {S}teinkohlenbergbau durch {V}orhersage von {CO-K}on\-zen\-tra\-tio\-nen},
booktitle = {KI Themenheft Data Mining},
volume = {1},
year = 1998,
note = {In German},
publisher = {ScienTec Publishing GmbH}
}
@inproceedings{Bur99Son,
author = {Burgard, W. and Fox, D. and Jans, H. and Matenar, C. and Thrun, S.},
title = {Sonar-Based Mapping of Large-Scale Mobile Robot Environments Using {EM}},
booktitle = {Proc.~of the International Conference on Machine Learning (ICML)},
year = 1999,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/em-mapping-icml-99.ps.gz}
}
@inproceedings{Burgard90Efficiency,
author = {Burgard, W.},
title = {Efficiency Considerations on Goal-Directed Forward Chaining for Logic Programs},
booktitle = {Proceedings of the 4th workshop on Computer Science Logic (CSL)},
year = 1990
}
@inproceedings{Del99Mon,
author = {Dellaert, F. and Fox, D. and Burgard, W. and Thrun, S.},
title = {Monte {C}arlo {L}ocalization for Mobile Robots},
booktitle = {Proc.~of the IEEE International Conference on Robotics \& Automation (ICRA)},
year = 1999,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/sampling-icra99.ps.gz}
}
@inproceedings{Del99Usi,
author = {Dellaert, F. and Burgard, W. and Fox, D. and Thrun, S.},
title = {Using the Condensation Algorithm for Robust, Vision-based Mobile Robot Localization},
booktitle = {Proc.~of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR)},
year = 1999,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/sampling-vision-cvpr-99.ps.gz}
}
@proceedings{EUROBOT99,
title = {Proc.~of the third {European} Workshop on Advanced Mobile Robots (EUROBOT)},
year = 1999,
editor = {Burgard, W. and Nehmzow, U. and Vestli, S. and
Schweizer, G.}
}
@inproceedings{Fox96Con,
author = {Fox, D. and Burgard, W. and Thrun, S.},
title = {Controlling Synchro-drive Robots with the Dynamic Window Approach to Collision Avoidance},
booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = 1996,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/colli-iros.ps.gz}
}
@article{Fox97Dyn,
author = {Fox, D. and Burgard, W. and Thrun, S.},
title = {The Dynamic Window Approach to Collision Avoidance},
journal = {IEEE Robotics \& Automation Magazine},
volume = {4},
number = {1},
year = 1997,
month = mar,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/colli-ieee.ps.gz},
abstract = {This approach, designed for mobile robots equipped
with synchro-drives, is derived directly from the
motion dynamics of the robot. In experiments, the
dynamic window approach safely controlled the
mobile robot RHINO at speeds of up to 95 cm/sec, in
populated and dynamic environments.}
}
@article{Fox98Act,
author = {Fox, D. and Burgard, W. and Thrun, S.},
title = {Active {M}arkov Localization for Mobile Robots},
journal = {Robotics and Autonomous Systems},
volume = {25},
pages = {195--207},
year = 1998,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/ras-active.ps.gz}
}
@inproceedings{Fox98Hyb,
author = {Fox, D. and Burgard, W. and Thrun, S. and Cremers, A.B.},
title = {A Hybrid Collision Avoidance Method For Mobile Robots},
booktitle = {Proc.~of the IEEE International Conference on Robotics \& Automation (ICRA)},
year = 1998,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/obstserver-icra98.ps.gz}
}
@inproceedings{Fox98Pos,
author = {Fox, D. and Burgard, W. and Thrun, S. and Cremers, A.B.},
title = {Position Estimation for Mobile Robots in Dynamic Environments},
booktitle = {Proc.~of the National Conference on Artificial Intelligence (AAAI)},
year = 1998,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/selection-aaai98.ps.gz}
}
@inproceedings{Fox99Col,
author = {Fox, D. and Burgard, W. and Kruppa, H. and Thrun, S.},
title = {Collaborative Multi-Robot Localization},
booktitle = {Proc.~of the German Conference on Artificial Intelligence (KI), Germany},
year = 1999,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/multi-mcl-ki-99.ps.gz},
publisher = {Springer Verlag}
}
@incollection{Fox99Mar,
author = {Fox, D. and Burgard, W. and Thrun, S.},
title = {Markov Localization for Reliable Robot Navigation and People Detection},
booktitle = {Modelling and Planning for Sensor-Based Intelligent Robot Systems},
year = 1999,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/localize-dagstuhl-99.ps.gz},
publisher = {Springer Verlag},
series = {LNCS}
}
@article{Fox99MarB,
author = {Fox, D. and Burgard, W. and Thrun, S.},
title = {Markov Localization for Mobile Robots in Dynamic Environments},
journal = {Journal of Artificial Intelligence Research (JAIR)},
volume = {11},
pages = {391--427},
year = 1999,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/localize-jair-99.ps.gz}
}
@inproceedings{Fox99Mon,
author = {Fox, D. and Burgard, W. and Dellaert, F. and Thrun, S.},
title = {Monte {C}arlo {L}ocalization: Efficient Position Estimation for Mobile Robots},
booktitle = {Proc.~of the National Conference on Artificial Intelligence (AAAI)},
year = 1999,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/sampling-aaai-99.ps.gz}
}
@techreport{Fox99Mul,
author = {Fox, D. and Burgard, W. and Kruppa, H. and Thrun, S.},
title = {A {M}onte {C}arlo Algorithm for Multi-Robot Localization},
number = {CMS-CS-99-120},
year = 1999,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/multi-tr.ps.gz},
institution = {Carnegie Mellon University}
}
@inproceedings{Fox99Pro,
author = {Fox, D. and Burgard, W. and Thrun, S.},
title = {Probabilistic Methods for Mobile Robot Mapping},
booktitle = {Proc.~of the IJCAI-99 Workshop on Adaptive Spatial Representations of Dynamic Environments},
year = 1999,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/mapping-ijcai-99.ps.gz},
address = {Stockholm, Sweden}
}
@inproceedings{Gut98Exp,
author = {Gutmann, J.-S. and Burgard, W. and Fox, D. and Konolige, K.},
title = {An Experimental Comparison of Localization Methods},
booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = 1998,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/comparison-iros-98.ps.gz}
}
@inproceedings{Hae98GOL,
author = {H{\"a}hnel, D. and Burgard, W. and Lakemeyer, G.},
title = {{GOLEX} --- Bridging the Gap between Logic ({GOLOG}) and a Real Robot},
booktitle = {Proc.~of the 22nd German Conference on Artificial Intelligence (KI'98)},
year = 1998,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/ki98.ps.gz},
address = {Bremen, Germany},
publisher = {Springer Verlag},
series = {LNCS}
}
@proceedings{KI99,
title = {Proc.~of the 22nd German Conference on Artificial Intelligence (KI)},
year = 1999,
series = {LNCS},
editor = {Burgard, W. and Christaller, Th. and Cremers,
A.B.},
publisher = {Springer Verlag}
}
@inproceedings{Roy98Coa,
author = {Roy, N. and Burgard, W. and Fox, D. and Thrun, S.},
title = {Coastal Navigation: Robot Motion with Uncertainty},
booktitle = {Proc.~of the 1998 AAAI Fall Symposium},
year = 1998
}
@inproceedings{Roy99Coa,
author = {Roy, N. and Burgard, W. and Fox, D. and Thrun, S.},
title = {Coastal Navigation: Mobile Robot Navigation with Uncertainty in Dynamic Environments},
booktitle = {Proc.~of the IEEE International Conference on Robotics \& Automation (ICRA)},
year = 1999,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/coastal-icra99.ps.gz}
}
@inproceedings{Sch99Pro,
author = {Sch{\"o}nherr, F. and Hertzberg, J. and Burgard, W.},
title = {Probabilistic Mapping of Unexpected Objects by a Mobile Robot},
booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = 1998
}
@inproceedings{Sch99Rob,
author = {Schulz, D. and Burgard, W. and Cremers, A.B.},
title = {Robust Visualization of Navigation Experiments with Mobile Robots over the Internet},
booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = 1999,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/iros99.ps.gz}
}
@incollection{Thr98Map,
author = {Thrun, S. and B\"{u}cken, A. and Burgard, W. and Fox, D. and Fr\"{o}hlinghaus, T. and Hennig, D. and Hofmann, T. and Krell, M. and Schimdt, T.},
title = {Map Learning and High-Speed Navigation in \mbox{RHINO}},
booktitle = {Artificial Intelligence and MobileRobots},
year = 1998,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/rhino-ai-book-chapter.ps.gz},
address = {Cambridge, MA},
editor = {Kortenkamp, David and Bonasso, R.P. and Murphy,
R.},
publisher = {MIT/AAAI Press}
}
@inproceedings{Thr97Sta,
author = {Thrun, S. and Fox, D. and Burgard, W.},
title = {Probabilistic State Estimation in Robotics},
booktitle = {Proc.~of the Workshop on Self-Organization of Adaptive Behavior, Ilmenau, Germany},
year = 1997,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/thrun.SOAVE97.ps.gz},
publisher = {VDI-Verlag}
}
@inproceedings{Thr98Int,
author = {Thrun, S. and Gutmann, J.-S. and Fox, D. and Burgard, W. and Kuipers, B.},
title = {Integrating Topological and Metric Maps for Mobile Robot Navigation: A Statistical Approach},
booktitle = {Proc.~of the National Conference on Artificial Intelligence (AAAI)},
year = 1998,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/map-aaai98.ps.gz}
}
@inproceedings{Thr98ProA,
author = {Thrun, S. and Fox, D. and Burgard, W.},
title = {Probabilistic Mapping of an Environment by a Mobile Robot},
booktitle = {Proc.~of the IEEE International Conference on Robotics \& Automation (ICRA)},
year = 1998,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/thrun.icra98-map.ps.gz}
}
@article{Thr98ProB,
author = {Thrun, S. and Fox, D. and Burgard, W.},
title = {A Probabilistic Approach to Concurrent Mapping and Localization for Mobile Robots},
journal = {Machine Learning},
volume = {31},
pages = {29--53},
year = 1998,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/maploc-machine-learning.ps.gz},
note = {Also appeared in {\em Autonomous Robots} 5, pp.
253--271, joint issue}
}
@inproceedings{Thr99Mon,
author = {Thrun, S. and Langford, J. and Fox, D.},
title = {Monte {C}arlo Hidden {M}arkov Models: Learning Non-Parametric Models of Partially Observable Stochastic Processes},
booktitle = {Proc.~of the International Conference on Machine Learning (ICML)},
year = 1999,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/thrun.mchmm.ps.gz}
}
@inproceedings{burgard96Object,
author = {W. Burgard and A. Cremers and T. Kolbe and L. Pl{\"u}mer},
title = {Object construction by deduction for a 3D geo- information system of a mine},
booktitle = {Proceedings of the 4th Int.~Conf.~on Practical Application of Prolog (PAP)},
year = 1996
}
@proceedings{euromicro96,
title = {Proc.~of the First Euromicro Workshop on Advanced Mobile Robots (EUROBOT'96)},
year = 1996,
key = {EUROMICRO96},
publisher = {IEEE Computer Society Press}
}
@inproceedings{Hop98Virtual,
author = {Hopp, A. and Schulz, D. and Burgard, W. and Cremers, A.B. and Fellner, D.},
title = {Virtual Reality Visualization of Distributed Tele-Experiments},
booktitle = {IEEE Industrial Electronics Conference (IECON)},
year = 1998,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/iecon98.ps.gz}
}
