all.bib
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@inproceedings{osswald10icra,
author = {S. O{\ss}wald and A. Hornung and M. Bennewitz},
title = {Learning Reliable and Efficient Navigation with a Humanoid},
booktitle = {Proc.~of the IEEE International Conference on Robotics \& Automation (ICRA)},
year = 2010,
note = {to appear}
}
@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,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/hornung09iros.pdf}
}
@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,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/pretto09icra.pdf}
}
@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}
}
@incollection{bennewitz05geriatrie,
author = {Bennewitz, M. and Burgard, W.},
title = {Serviceroboter f{\"u}r den {P}flegebereich},
booktitle = {Handbuch Geriatrie. Lehrbuch für Praxis und Klinik},
publisher = {Deutsche Krankenhaus Verlagsgesellschaft mbH},
year = {2005},
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},
address = {D{\"u}sseldorf},
note = {In German}
}
@article{bennewitz05ijrr,
author = {Bennewitz, M. and Burgard, W. and Cielniak, G. and Thrun, S.},
title = {Learning Motion Patterns of People for Compliant Robot Motion},
year = 2005,
journal = {The International Journal of Robotics Research (IJRR)},
volume = {24},
number = {1},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/bennewitz05ijrr.pdf}
}
@article{bennewitz02ras,
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},
year = 2002,
journal = {Robotics and Autonomous Systems},
volume = {41},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/bennewitz02ras.pdf}
}
@article{beetz01Iis,
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.},
title = {Integrated Plan-based Control of Autonomous Service Robots in Human Environments},
year = 2001,
journal = {IEEE Intelligent Systems},
volume = {16},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/beetz01Iis.pdf}
}
@article{thrun00ijrr,
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},
year = 2000,
journal = {International Journal of Robotics Research (IJRR)},
volume = {19},
number = {11},
pages = {972-999},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/thrun00ijrr.pdf}
}
@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{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,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/bennewitz03icra.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,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/bennewitz02iros.pdf}
}
@inproceedings{bennewitz02icra,
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,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/bennewitz02icra.pdf}
}
@inproceedings{bennewitz01iros,
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,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/bennewitz01iros.pdf}
}
@inproceedings{bennewitz01ki,
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,
publisher = {Springer Verlag},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/bennewitz01ki.pdf}
}
@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,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/bennewitz01icra.pdf}
}
@inproceedings{thrun99ki,
author = {Thrun, S. and Bennewitz, M. and Burgard, W. and Cremers, A.B. and Dellaert, F. and Fox, D. and H{\"a}hnel, D. and Rosenberg, C. and Roy, N. and Schulte, J. and Schulz, D.},
title = {MINERVA: A Tour-Guide Robot that learns},
booktitle = {Proc.~of the the 23rd German Conference on Artificial Intelligence (KI) },
year = 1999,
publisher = {Springer Verlag},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/thrun99ki.pdf}
}
@inproceedings{thrun99icra,
author = {Thrun, S. and Bennewitz, M. and Burgard, W. and Dellaert, F. and Fox, D. and H{\"a}hnel, D. and Rosenberg, C. and Roy, N. and Schulte, J. and Schulz, D.},
title = {MINERVA: A Second-Generation Museum Tour-Guide Robot},
booktitle = {Proc.~of the IEEE International Conference on Robotics \& Automation (ICRA)},
year = 1999,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/thrun99icra.pd}
}
@inproceedings{thrun99fsr,
author = {Thrun, S. and Bennewitz, M. and Burgard, W. and Cremers, A.B. and Dellaert, F. and Fox, D. and H{\"a}hnel, D. and Rosenberg, C. and Roy, N. and Schulte, J. and Schulz, D.},
title = {Experiences with two Deployed Interactive Tour-guide Robots},
booktitle = {Proc.~of the International Conference on Field and Service Robotics (FSR)},
year = 1999,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/thrun99fsr.pdf}
}
@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{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}
}
@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{bennewitz02robotik,
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
}
@inproceedings{bennewitz01sirs,
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{bennewitz00ams,
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}
}
@inproceedings{bennewitz00sirs,
author = {Bennewitz, M. and Burgard, W.},
title = {Coordinating the Motions of Multiple Mobile Robots Using a Probabilistic Model},
booktitle = {Proc.~of the 8th International Symposium on Intelligent Robotic Systems (SIRS)},
year = 2000,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/bennewitz00sirs.pdf}
}
@inproceedings{bennewitz00ecaiws,
author = {Bennewitz, M. and Burgard, W.},
title = {A Probabilistic Method for Planning Collision-free Trajectories of Multiple Mobile Robots},
booktitle = {Proc.~of the Workshop ``Service Robotics - Applications and Safety Issues in an Emerging Market'' at the 14th European Conference on Artificial Intelligence (ECAI)},
year = 2000,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/bennewitz00ecaiws.pdf}
}
@inproceedings{Bee97Act,
author = {Beetz, M. and Burgard, W. and Cremers, A.B. and Fox, D.},
title = {Active Localization for Service Robot Applications},
booktitle = {Proc.~of the 5th Symposium for Intelligent Robotics Systems
(SIRS'97), Stockholm, Sweden},
year = 1997
}
@article{Bee98Int,
author = {Beetz, M. and Burgard, W. and Fox, D. and Cremers, A.B.},
title = {Integrating Active Localization into High-level Robot
Control Systems},
journal = {Robotics and Autonomous Systems},
volume = {23},
pages = {205-220},
year = 1998
}
@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}
}
@article{Buh95Mob,
author = {Joachim M. Buhmann and
Wolfram Burgard and
Armin B. Cremers and
Dieter Fox and
Thomas Hofmann and
Frank E. Schneider and
Jiannis Strikos and
Sebastian Thrun},
title = {The Mobile Robot RHINO.},
journal = {AI Magazine},
volume = {16},
number = {2},
year = {1995},
pages = {31-38}
}
@article{Buh95Mob,
author = {Buhmann, J. and Burgard, W. and Cremers, A.B. and Fox,
D. and Hofmann, T. and Schneider, F. and Strikos, J. and
Thrun, S.},
title = {The Mobile Robot \mbox{R}hino},
journal = {AI Magazine},
year = {1995},
pages = {31-38},
month = {},
volume = {16},
number = {2}
}
@inproceedings{Bur00Col,
author = {Burgard, W. and Moors, M. and Fox, D. and Simmons, R. and
Thrun, S.},
title = {Collaborative Multi-Robot Exploration},
year = {2000},
booktitle = {Proc.~of the IEEE International Conference on
Robotics \& Automation (ICRA)}
}
@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 },
editor = {Beetz, M. and Hertzberg, J. and Ghallab, M. and Pollack,
M.E.},
publisher = {Springer Verlag},
year = {2002},
series = {LNCS},
volume = {2466}
}
@mastersthesis{Bur86PRO,
author = {Burgard, W.},
title = {{PROSPERT}: An Expert System for the Syntesis of Chemical
Processes},
school = {University of Dortmund, Department of Computer Science},
year = 1987,
note = {In German}
}
@phdthesis{Bur91Goa,
author = {Burgard, W.},
title = {Goal-directed Forward Chaining for Logic Programs},
school = {University of Bonn, Department of Computer Science},
year = {1991}
}
@incollection{Bur95Goa,
author = {Burgard, W},
title = {Goal-directed forward chaining: A tuple-oriented bottom-up
approach},
editor = {Beierle, Ch. and Pl{\"u}mer, L.},
booktitle = {Logic Programming: Formal Methods and Practical
Applications},
publisher = {Elsevier Science B.V.},
year = {1995}
}
@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
}
@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
}
@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,
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
}
@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,
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},
howpublished = {{\tt http/www.cs.uni-bonn.de/\symbol{126}rhino/tourguide}},
year = {1997}
}
@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},
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
}
@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}
}
@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},
publisher = {ScienTec Publishing GmbH},
volume = {1},
year = {1998},
note = {In German}
}
@article{Bur99Exp,
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 = {Experiences with an Interactive Museum Tour-Guide Robot},
journal = {Artificial Intelligence},
year = 2000,
volume = {114},
number = {1-2},
pages = {3-55}
}
@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}},
year = {1999},
booktitle = {Proc.~of the International Conference on Machine Learning (ICML)}
}
@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},
year = {2003},
volume = 15,
pages = {299-316}
}
@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
}
@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},
publisher = {MIT Press},
year = {2005}
}
@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
}
@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
}
@proceedings{ECMR03,
title = {Proc.~of the first {European} Conference on Mobile Robots
(ECMR)},
year = 2003,
editor = {Borkowski, A. and Burgard, W. and Zingaretti, P.}
}
@proceedings{EUROBOT99,
title = {Proc.~of the third {European} Workshop on Advanced Mobile
Robots (EUROBOT)},
editor = {Burgard, W. and Nehmzow, U. and Vestli, S. and Schweizer,
G.},
year = 1999
}
@incollection{Fox00Eff,
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},
publisher = {Springer-Verlag},
year = 2000,
editor = {Hollerbach, J. and Koditschek, D.},
address = {London}
}
@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},
publisher = {Springer Verlag},
year = 2000,
editor = {Doucet, A. and de Freitas, N. and Gordon, N.},
address = {New York}
}
@article{Fox00Pro,
author = {Fox, D. and Burgard, W. and Kruppa, H. and Thrun, S.},
title = {A Probabilistic Approach to Collaborative Multi-Robot
Localization},
journal = {Autonomous Robots},
volume = {8},
number = {3},
year = 2000
}
@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
}
@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,
month = mar,
year = 1997,
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. },
keywords = {collision avoidance, mobile robots, reactive motion control,
motion dynamics}
}
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author = {Fox, D. and Burgard, W. and Thrun, S.},
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year = 1998
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Robotics \& Automation (ICRA)},
year = 1998
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booktitle = {Proc.~of the National Conference on Artificial Intelligence (AAAI)},
year = 1998
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publisher = {Springer Verlag}
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publisher = {Springer Verlag},
year = 1999,
series = {LNCS}
}
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author = {Fox, D. and Burgard, W. and Kruppa, H. and Thrun, S.},
title = {A {M}onte {C}arlo Algorithm for Multi-Robot Localization},
institution = {Carnegie Mellon University},
year = 1999,
number = {CMS-CS-99-120}
}
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author = {Fox, D. and Burgard, W. and Thrun, S.},
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Representations of Dynamic Environments},
year = 1999,
address = {Stockholm, Sweden}
}
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year = 1998
}
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year = {2002}
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year = 2004
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year = 2004
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@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},
note = {In German},
url = {http://www.slawomir.de/publications/diplomarbeit/Grzonka_Diplomarbeit.pdf}
}
@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)}},
year = {2010},
address = {Anchorage, AK, USA},
note = {To appear}
}
@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},
month = {September},
year = {2009},
address = {Mlini/Dubrovnik, Croatia},
isbn = {978-953-6037-54-4},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/joho09ecmr.pdf}
}
@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{kuemmerle09icra,
title = {Autonomous Driving in a Multi-level Parking Structure},
author = {R. K{\"u}mmerle and D. H{\"a}hnel and D. Dolgov and S. Thrun and W. Burgard},
booktitle = {Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA)},
address = {Kobe, Japan},
month = {May},
year = {2009},
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.},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/kuemmerle09icra.pdf},
downloads = {http://www.informatik.uni-freiburg.de/~kuemmerl/data/stanford-parking-garage-autonomous-double.avi Xvid Avi (9 MB);
http://www.informatik.uni-freiburg.de/~kuemmerl/data/stanford-parking-garage-autonomous-double.wmv WMV (11 MB)},
pages = {3395--3400}
}
@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)},
year = {2008},
month = {June - July},
volume = {25},
pages = {346--359},
doi = {10.1002/rob.20245},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/kuemmerle08jfr.pdf},
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.},
downloads = {http://www.informatik.uni-freiburg.de/~kuemmerl/data/movie_sbahn.avi Xvid Avi (15 MB);
http://www.informatik.uni-freiburg.de/~kuemmerl/data/movie-79er.avi Xvid Avi (19 MB)}
}
@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)},
editor = {Karsten Berns and Tobias Luksch},
pages = {22--28},
month = {October},
year = 2007,
address = {Kaiserslautern, Germany},
publisher = {Springer},
isbn = {978-3-540-74763-5},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/kuemmerle07ams.pdf},
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.}
}
@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},
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.},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/kuemmerle07fsr.pdf},
downloads = {http://www.informatik.uni-freiburg.de/~kuemmerl/data/movie_sbahn.avi Xvid Avi (15 MB);
http://www.informatik.uni-freiburg.de/~kuemmerl/data/movie-79er.avi Xvid Avi (19 MB)}
}
@article{lauIJSR10,
author = {Lau, B. and Arras, K.O. and Burgard, W.},
title = {Multi-model Hypothesis Group Tracking and Group Size Estimation},
journal = {International Journal of Social Robotics, Springer},
year = {2010},
owner = {lau},
timestamp = {2010.01.07},
url = {http://www.springerlink.com/content/gq863gk53135u1p4/}
}
@inproceedings{lauICRA09,
author = {Lau, B. and Arras, K.O. and Burgard, W.},
title = {Tracking Groups of People with a Multi-Model Hypothesis Tracker},
booktitle = {International Conference on Robotics and Automation (ICRA)},
year = {2009},
address = {Kobe, Japan},
owner = {lau},
timestamp = {2010.01.07},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/lau09icra.pdf}
}
@inproceedings{lauIROS2009,
author = {Lau, B. and Sprunk, C. and Burgard, W.},
title = {Kinodynamic Motion Planning for Mobile Robots Using Splines},
booktitle = {IEEE Intl. Conf. on Intelligent Robots and Systems (IROS)},
year = {2009},
address = {St. Louis, MO, USA},
month = {October},
owner = {lau},
timestamp = {2010.01.07},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/lau09iros.pdf}
}
@comment{{jabref-meta: selector_publisher:}}
@comment{{jabref-meta: selector_author:}}
@comment{{jabref-meta: selector_journal:}}
@comment{{jabref-meta: selector_keywords:}}
@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,
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)},
address = {Kobe, Japan},
year = {2009}
}
@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)},
address = {Freiburg, Germany},
year = {2007}
}
@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)},
address = {Freiburg, Germany},
year = {2007}
}
@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 = {Proc.~of the IEEE International Conference on
Robotics \& Automation (ICRA)},
pages = {3589-3594},
year = 2009,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/mueller09icra.pdf}
}
@inproceedings{mueller10icra,
author = {M\"{u}ller, J. and Gonsior, C. and Burgard, W.},
title = {Improved Monte Carlo Localization of Autonomous Robots through Simultaneous Estimation of Motion Model Parameters},
booktitle = {Proc.~of the IEEE International Conference on
Robotics \& Automation (ICRA)},
year = 2010,
note = {Accepted for publication}
}
@phdthesis{mozos2008phd,
title = {Semantic Place Labeling with Mobile Robots},
author = {Oscar Martinez Mozos},
year = {2008},
month = {July},
school = {University of Freiburg},
address = {Freiburg, Germany},
category = {thesis},
pdf = {http://www.informatik.uni-freiburg.de/~omartine/publications/mozos2008phd.pdf}
}
@article{zender2008ras,
title = {Conceptual Spatial Representations for Indoor Mobile Robots},
author = {Hendrik Zender and Oscar Martinez Mozos and Patric Jensfelt and Geert-Jan M. Kruijff and Wolfram Burgard},
journal = {Robotics and Autonomous Systems},
publisher = {Elsevier},
volume = {56},
number = {6},
pages = {493--502},
month = {June},
year = {2008},
issn = {0921-8890},
jcr = {0.832 (2006)},
position = {4/12 ROBOTICS (2006)},
doi = {10.1016/j.robot.2008.03.007},
pdf = {http://www.informatik.uni-freiburg.de/~omartine/publications/zender2008ras.pdf},
category = {journal}
}
@article{stachniss2008amai,
title = {Efficient Exploration of Unknown Indoor Environments using a Team of Mobile Robots},
author = {Cyrill Stachniss and Oscar Martinez Mozos and Wolfram Burgard},
journal = {Annals of Mathematics and Artificial Intelligence},
year = {2008},
jcr = {0.756 (2007)},
issn = {1012-2443},
note = {To appear},
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},
year = {2008},
address = {Pasadena, CA, USA},
month = {May},
pages = {522--529},
issn = {1050-4729},
isbn = {978-1-4244-1647-9},
pdf = {http://www.informatik.uni-freiburg.de/~omartine/publications/pronobis2008icra.pdf},
category = {conference}
}
@inproceedings{mozos2007iros_workshop,
title = {From Labels to Semantics: An Integrated System for Conceptual Spatial Representations of Indoor Environments for Mobile Robots},
author = {Oscar Martinez Mozos and Patric Jensfelt and Hendrik Zender and Geert-Jan M. Kruijff and Wolfram Burgard},
booktitle = {Proceedings of the IEEE/RSJ IROS 2007 Workshop: Semantic information in robotics},
address = {San Diego, CA, USA},
year = {2007},
url = {http://www.informatik.uni-freiburg.de/~omartine/publications/mozos2007iros_workshop.html},
pdf = {http://www.informatik.uni-freiburg.de/~omartine/publications/mozos2007iros_workshop.pdf},
googlevideo = {http://www.informatik.uni-freiburg.de/~omartine/publications/mozos2007iros_workshop.html#video},
category = {workshop}
}
@article{stachniss2007it,
title = {Efficiently Learning Metric and Topological Maps with Autonomous Service Robots},
author = {Cyrill Stachniss and Giorgio Grisetti and Oscar Martinez Mozos and Wolfram Burgard},
journal = {it--Information Technology},
journallink = {http://it-information-technology.de/},
volume = {49},
number = {4},
year = {2007},
issn = {1611--2776},
pages = {232--237},
pdf = {http://www.informatik.uni-freiburg.de/~omartine/publications/stachniss2007it.pdf},
category = {journal}
}
@inproceedings{zender2007aaai,
title = {An Integrated Robotic System for Spatial Understanding and Situated Interaction in Indoor Environments},
author = {Hendrik Zender and Patric Jensfelt and Oscar Martinez Mozos and Geert-Jan M. Kruijff and Wolfram Burgard},
booktitle = {Proceedings of the Conference on Artificial Intelligence},
address = {Vancouver, British Columbia, Canada},
year = {2007},
pdf = {http://www.informatik.uni-freiburg.de/~omartine/publications/zender2007aaai.pdf},
url = {http://www.informatik.uni-freiburg.de/~omartine/publications/zender2007aaai.html},
googlevideo = {http://www.informatik.uni-freiburg.de/~omartine/publications/zender2007aaai.html#video},
category = {conference}
}
@inproceedings{triebel2007gfkl,
title = {Relational Learning in Mobile Robotics: An Application to Semantic Labeling of Objects in {2D} and {3D} Environment Maps},
author = {Rudolph Triebel and Oscar Martinez Mozos and Wolfram Burgard},
booktitle = {Annual Conference of the German Classification Society on Data Analysis, Machine Learning, and Applications},
address = {Freiburg, Germany},
year = {2007},
category = {conference}
}
@inbook{triebel2007gfkl_b,
title = {Studies in Classification, Data Analysis, and Knowledge Organization},
chapter = {Relational Learning in Mobile Robotics: An Application to Semantic Labeling of Objects in {2D} and {3D} Environment Maps},
author = {Triebel, R. and Mozos, O.M. and Burgard, W.},
editor = {C. Preisach, H. Burkhardt, L.Schmidt-Thieme, R.Decker},
year = {2008},
publisher = {Springer-Verlag},
pages = {293--300},
pdf = {http://www.informatik.uni-freiburg.de/~omartine/publications/triebel2007gfkl_book.pdf},
category = {book_chapter}
}
@inproceedings{mozos2007icra_workshop,
title = {From Labels to Semantics: An Integrated System for Conceptual Spatial Representations of Indoor Environments for Mobile Robots},
author = {Oscar Martinez Mozos and Patric Jensfelt and Hendrik Zender and Geert-Jan M. Kruijff and Wolfram Burgard},
booktitle = {Proceedings of the IEEE ICRA Workshop: Semantic information in robotics},
year = {2007},
pages = {33--40},
url = {http://www.informatik.uni-freiburg.de/~omartine/publications/mozos2007icra_workshop.html},
pdf = {http://www.informatik.uni-freiburg.de/~omartine/publications/mozos2007icra_workshop.pdf},
googlevideo = {http://www.informatik.uni-freiburg.de/~omartine/publications/mozos2007icra_workshop.html#video},
category = {workshop}
}
@inproceedings{arras2007icra,
title = {Using Boosted Features for the Detection of People in {2D} Range Data},
author = {Kai O. Arras and Oscar Martinez Mozos and Wolfram Burgard},
booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation},
year = {2007},
pages = {3402--3407},
url = {http://www.informatik.uni-freiburg.de/~omartine/publications/arras2007icra.html},
pdf = {http://www.informatik.uni-freiburg.de/~omartine/publications/arras2007icra.pdf},
video = {http://www.informatik.uni-freiburg.de/~omartine/multimedia/AdaBoostOffice.avi},
category = {conference}
}
@inproceedings{triebel2007ijcai,
title = {Instace-based AMN Classification for Improved Object Recognition in 2D and 3D Laser Range Data},
author = {Rudolph Triebel and Richard Schmidt and Oscar Martinez Mozos and Wolfram Burgard},
booktitle = {Proceedings of the International Joint Conference on Artificial Intelligence},
pages = {2225--2230},
address = {Hyderabad, India},
year = {2007},
pdf = {http://www.informatik.uni-freiburg.de/~omartine/publications/triebel2007ijcai.pdf},
category = {conference}
}
@inproceedings{mozos2006iros,
title = {Supervised Learning of Topological Maps using Semantic Information Extracted from Range Data.},
author = {Oscar Martinez Mozos and Wolfram Burgard},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems},
address = {Beijing, China},
year = {2006},
pdf = {http://www.informatik.uni-freiburg.de/~omartine/publications/mozos2006iros.pdf},
category = {conference}
}
@inproceedings{stachniss2006icra,
title = {Speeding-Up Multi-Robot Exploration by Considering Semantic Place Information},
author = {Cyrill Stachniss and Oscar Martinez Mozos and Wolfram Burgard},
booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation},
address = {Orlando, FL, USA},
year = {2006},
pages = {1692--1697},
pdf = {http://www.informatik.uni-freiburg.de/~omartine/publications/stachniss2006icra.pdf},
category = {conference}
}
@inbook{mozos2007star,
title = {Robotics Research: Results of the 12th International Symposium ISRR.},
author = {Oscar Martinez Mozos and Cyrill Stachniss and Axel Rottmann and Wolfram Burgard},
chapter = {Using AdaBoost for Place Labeling and Topological Map Building.},
year = {2007},
pages = {453--472},
editor = {Thrun, S. and Brooks, R. and Durrant-Whyte, H.},
publisher = {Springer-Verlag Berlin Heidelberg, Germany},
series = {{STAR} Springer tracts in advanced robotics},
volume = {28},
pdf = {http://www.informatik.uni-freiburg.de/~omartine/publications/mozos2007star.pdf},
category = {book_chapter}
}
@inproceedings{martinez2005icra,
title = {Supervised Learning of Places from Range Data using {A}da{B}oost},
author = {Oscar Martinez Mozos and Cyrill Stachniss and Wolfram Burgard},
booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation},
year = {2005},
pages = {1742--1747},
address = {Barcelona, Spain},
url = {http://www.informatik.uni-freiburg.de/~omartine/publications/martinez2005icra.html},
pdf = {http://www.informatik.uni-freiburg.de/~omartine/publications/martinez2005icra.pdf},
video = {http://www.informatik.uni-freiburg.de/~omartine/multimedia/fr079-online-classification.anim.avi},
finalistbeststudentpaper = {http://www.informatik.uni-freiburg.de/~omartine/images/icra05-best-student-paper-finalist.jpg},
category = {conference}
}
@mastersthesis{martinez2004thesis,
title = {Supervised Learning of Places from Range Data using AdaBoost},
author = {Oscar Martinez Mozos},
school = {University of Freiburg},
month = {December},
year = {2004},
url = {http://www.informatik.uni-freiburg.de/~omartine/publications/martinez2004thesis.html},
pdf = {http://www.informatik.uni-freiburg.de/~omartine/publications/martinez2004thesis.pdf},
ps = {http://www.informatik.uni-freiburg.de/~omartine/publications/martinez2004thesis.ps.gz},
category = {thesis}
}
@inproceedings{pfaff06euros,
author = {Pfaff, P. and Burgard, W. and Fox, D.},
title = {Robust Monte-Carlo Localization using Adaptive Likelihood Models},
editor = {H.I. Christiensen},
booktitle = {European Robotics Symposium 2006},
publisher = {Springer-Verlag Berlin Heidelberg, Germany},
year = 2006,
volume = {22},
series = {STAR Springer tracts in advanced robotics},
pages = {181--194},
isbn = {3-540-32688-X},
pdfurl = {http://www.informatik.uni-freiburg.de/~pfaff/downloads/pfaff06euros.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)},
year = {2005},
pages = {165--176},
address = {Port Douglas, QLD, Australia},
pdfurl = {http://www.informatik.uni-freiburg.de/~pfaff/downloads/pfaff_fsr05.pdf}
}
@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 International Conference on Intelligent Robots and Systems (IROS)},
year = {2006},
pdfurl = {http://www.informatik.uni-freiburg.de/~pfaff/downloads/triebel06iros.pdf}
}
@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},
editor = {P. Corke, and S. Sukkarieh},
journal = {International Journal of Robotics Research (IJRR)},
year = {2007}
}
@inproceedings{plagem07snob,
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},
address = {San Juan, Puerto Rico}
}
@inproceedings{kuemmerl07fsr,
author = {K\"ummerle, 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},
address = {Chamonix, France}
}
@inproceedings{meyerdelius09icra,
title = {Probabilistic Situation Recognition and its Application to Vehicular Traffic Situations},
author = {Daniel Meyer-Delius and Christian Plagemann and Wolfram Burgard},
booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
address = {Kobe, Japan},
year = {2009},
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{joho09icra,
title = {Modeling RFID Signal Strength and Tag Detection for Localization and Mapping},
author = {Dominik Joho and Christian Plagemann and Wolfram Burgard},
booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
address = {Kobe, Japan},
year = {2009},
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}
}
@phdthesis{plagemann08phd,
author = {Plagemann, C.},
title = {Gaussian Processes for Flexible Robot Learning},
school = {University of Freiburg, Department of Computer Science},
year = 2008,
month = {December},
pdfurl = {http://www.informatik.uni-freiburg.de/~plagem/bib/plagemann08phd.pdf}
}
@inproceedings{plagemann08ecml,
title = {Nonstationary Gaussian Process Regression using Point Estimates
of Local Smoothness},
author = {Plagemann, C. and Kersting, K. and Burgard, W.},
booktitle = {Proc.~of the European Conference on Machine Learning (ECML)},
address = {Antwerp, Belgium},
year = {2008},
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.
},
pdfurl = {http://www.informatik.uni-freiburg.de/~plagem/bib/plagemann08ecml.pdf}
}
@proceedings{burgard08ias,
editor = {Burgard, W. and Dillmann, R. and Plagemann, C. and
Vahrenkamp, N.},
title = {Proc. of the 10th International Conference on Intelligent
Autonomous Systems, Baden-Baden, Germany, July 23-25, 2008},
booktitle = {IAS},
publisher = {IOS Press},
year = {2008},
isbn = {978-1-58603-887-8}
}
@inproceedings{plagemann08iros,
title = {Learning Predictive Terrain Models for Legged Robot Locomotion},
author = {Plagemann, C. and Mischke, S. and Prentice, S. and Kersting, K.
and Roy, N. and Burgard, W.},
booktitle = {Proc.~of the IEEE/RSJ International Conference on
Intelligent Robots and Systems (IROS)},
address = {Nice, France},
year = {2008},
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.
},
pdfurl = {http://www.informatik.uni-freiburg.de/~plagem/bib/plagemann08iros.pdf}
}
@inproceedings{luber08rss,
title = {Tracking and Classification of Dynamic Objects: An Unsupervised
Learning Approach},
author = {Luber, M. and Arras, K. and Plagemann, C. and Burgard, W.},
booktitle = {Robotics: Science and Systems (RSS)},
address = {Zurich, Switzerland},
year = {2008},
month = {June},
optpdfurl = {http://www.informatik.uni-freiburg.de/~plagem/bib/sturm08rss.pdf},
optabstract = {}
}
@inproceedings{reiser08robotik,
title = {Verteilte Software-Entwicklung in der Robotik - ein Integrations- und
Testframework},
author = {Reiser, U. and Mies, C. and Plagemann, C.},
booktitle = {Robotik},
address = {Munich, Germany},
year = {2008},
optmonth = {},
abstract = {Eine der größten 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 lösen sind, hängt der Integrationserfolg insbesondere von der Lösung praktischer Probleme wie dem Zusammenspiel vieler Entwicklungspartner und der typischerweise stark limitierten Verfügbarkeit von Einzelkomponenten ab. Leistungsfähige Hardwarekomponenten, wie beispielsweise Mehrfingergreifer und Leichtbauarme, sind in der Regel Spezialanfertigungen und stehen daher nur wenigen Partnern innerhalb von Projekten zur Verfügung. In diesem Beitrag wird ein neues Integrations- und Testframework zur räumlich verteilten Forschung und Entwicklung an solchen Komponenten und integrierten Systemen vorgestellt. Entwickler können hierbei Beiträge zu einer Technologieplattform leisten, ohne ständigen, direkten Zugang zur Hardware besitzen zu müssen.},
note = {In German}
}
@inproceedings{pfaff08icra,
title = {Gaussian Mixture Models for Probabilistic Localization},
author = {Pfaff, P. and Plagemann, C. and Burgard, W.},
booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
address = {Pasadena, CA, USA},
year = {2008},
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.},
pdfurl = {http://www.informatik.uni-freiburg.de/~plagem/pfaff08icra.pdf}
}
@inproceedings{meyerdelius07gfkl,
title = {A Probabilistic Relational Model for Characterizing Situations in Dynamic Multi-Agent Systems},
author = {Meyer-Delius, C. and Plagemann, C. and von~Wichert, G. and Feiten, W. and Lawitzky, G. and Burgard, W.},
booktitle = {Proc.~of the 31st Annual Conference of the German Classification Society on Data Analysis, Machine Learning, and Applications (GfKl)},
address = {Freiburg, Germany},
year = {2007},
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.},
pdfurl = {http://www.informatik.uni-freiburg.de/~plagem/bib/meyerdelius07gfkl.pdf}
}
@inproceedings{pfaff07iros,
title = {Improved Likelihood Models for Probabilistic Localization based on Range Scans},
author = {Pfaff, P. and Plagemann, C. and Burgard, W.},
booktitle = {Proc.~of the IEEE/RSJ International Conference on
Intelligent Robots and Systems (IROS)},
address = {San Diego, CA, USA},
year = {2007},
abstract = {},
pdfurl = {http://www.informatik.uni-freiburg.de/~plagem/bib/pfaff07iros.pdf}
}
@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 = {July},
address = {Chamonix, France},
pdfurl = {http://www.informatik.uni-freiburg.de/~plagem/bib/grzonka07fsr.pdf},
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{plagemann07rss,
title = {Gaussian Beam Processes: A Nonparametric Bayesian Measurement Model for Range Finders},
author = {Plagemann, C. and Kersting, K. and Pfaff, P. and Burgard, W.},
booktitle = {Robotics: Science and Systems (RSS)},
address = {Atlanta, Georgia, USA},
year = {2007},
month = {June},
pdfurl = {http://www.informatik.uni-freiburg.de/~plagem/bib/plagemann07rss.pdf},
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,
title = {Adaptive Non-Stationary Kernel Regression for Terrain Modeling},
author = {Lang, T. and Plagemann, C. and Burgard, W.},
booktitle = {Robotics: Science and Systems (RSS)},
address = {Atlanta, Georgia, USA},
year = {2007},
month = {June},
pdfurl = {http://www.informatik.uni-freiburg.de/~plagem/bib/lang07rss.pdf},
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,
title = {Most Likely Heteroscedastic Gaussian Process Regression},
author = {Kersting, K. and Plagemann, C. and Pfaff, P. and Burgard, W.},
booktitle = {International Conference on Machine Learning (ICML)},
address = {Corvallis, Oregon, USA},
year = {2007},
month = {March},
pdfurl = {http://www.informatik.uni-freiburg.de/~plagem/bib/kersting07icml.pdf},
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,
title = {Learning to Transfer Optimal Navigation Policies},
author = {Kersting, K. and Plagemann, C. and Cocora, A. and Burgard, W. and De Raedt, L.},
journal = {Advanced Robotics. Special Issue on Imitative Robots},
year = {2007},
volume = {21},
number = {9},
month = {September},
pdfurl = {http://www.informatik.uni-freiburg.de/~plagem/bib/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{plagemann07snowb,
title = {Heteroscedastic Gaussian Process Regression for Modeling Range Sensors in Mobile Robotics},
author = {Plagemann, C. and Kersting, K. and Pfaff, P. and Burgard, W.},
booktitle = {Snowbird learning workshop},
address = {San Juan, Puerto Rico},
year = {2007},
month = {March},
pdfurl = {http://www.informatik.uni-freiburg.de/~plagem/bib/plagemann07snowb.pdf}
}
@inproceedings{plagemann07ijcai,
title = {Efficient Failure Detection on Mobile Robots Using Particle Filters with Gaussian Process Proposals},
author = {Plagemann, C. and Fox, D. and Burgard, W.},
booktitle = {Proc.~of the Twentieth International Joint Conference on Artificial Intelligence (IJCAI)},
address = {Hyderabad, India},
year = {2007},
pdfurl = {http://www.informatik.uni-freiburg.de/~plagem/bib/plagemann07ijcai.pdf},
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{lamon06iros,
title = {Mapping with an Autonomous Car},
author = {Lamon, P. and Stachniss, C. and Triebel, R. and Pfaff, P. and Plagemann, C. and Grisetti, G. and Kolsky, S. and Burgard, W. and Siegwart, R.},
booktitle = {In IEEE/RSJ IROS 2006 Workshop: Safe Navigation in Open and Dynamic Environments},
address = {Beijing, China},
year = {2006},
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.}
}
@article{cocora06ki,
title = {Learning Relational Navigation Policies},
author = {Cocora, A. and Kersting, K. and Plagemann, C. and Burgard, W. and De Raedt, L.},
journal = {KI - K{\"u}nstliche Intelligenz, Themenheft Lernen und Selbstorganisation von Verhalten},
pages = {12--18},
year = {2006},
volume = {3}
}
@inproceedings{cocora06iros,
title = {Learning Relational Navigation Policies},
author = {Cocora, A. and Kersting, K. and Plagemann, C. and Burgard, W. and De Raedt, L.},
booktitle = {Proc.~of the IEEE/RSJ International Conference on
Intelligent Robots and Systems (IROS)},
address = {Beijing, China},
year = {2006},
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.},
pdfurl = {http://www.informatik.uni-freiburg.de/~plagem/bib/cocora06iros.pdf}
}
@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)},
year = {2005},
pages = {197-202},
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},
year = {2005},
pages = {184-191},
publisher = {Springer},
series = {Lecture Notes in Computer Science},
volume = {3663},
editor = {Walter G. Kropatsch and Robert Sablatnig and Allan Hanbury},
pdfurl = {http://www.informatik.uni-freiburg.de/~plagem/bib/plagemann05dagm.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,
note = {In German},
pdfurl = {http://www.informatik.uni-freiburg.de/~plagem/bib/plagemann04mastersThesis.pdf}
}
@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 Int.~Conf.~on Intelligent Robots and Systems (IROS)},
address = {San Diego, CA, USA},
year = {2007},
month = {October},
url = {http://www.informatik.uni-freiburg.de/~rottmann/publication/rottmann07iros.pdf}
}
@inproceedings{rottmann07ecmr,
title = {Towards an Experimental Autonomous Blimp Platform},
author = {Rottmann, A. and Sippel, M. and Zitterell, T. and Burgard, W. and Reindl, L. and Scholl, C.},
booktitle = {Proc.~of the European Conference on Mobile Robots (ECMR)},
address = {Freiburg, Germany},
year = {2007},
url = {http://www.informatik.uni-freiburg.de/~rottmann/publication/rottmann07ecmr.pdf}
}
@article{mozos2007ras,
title = {Supervised semantic labeling of places using information extracted from sensor data},
author = {Mart\'{i}nez Mozos, O. and Triebel, R. and Jensfelt, P. and Rottmann, A. and Burgard, W.},
journal = {Robotics and Autonomous Systems},
volume = {55},
number = {5},
year = {2007},
month = {May},
pages = {391--402},
url = {http://www.informatik.uni-freiburg.de/~rottmann/publication/mozos07ras.pdf}
}
@inproceedings{mozos2006iros_w,
title = {Semantic Labeling of Places using Information Extracted from Laser and Vision Sensor Data},
author = {Mart\'{i}nez Mozos, O. and Rottmann, A. and Triebel, R. and Jensfelt, P. and Burgard, W.},
booktitle = {In Proc.~of the IEEE/RSJ IROS 2006 Workshop: From sensors to human spatial concepts},
address = {Beijing, China},
year = {2006},
url = {http://www.informatik.uni-freiburg.de/~rottmann/publication/mozos2006iros_w.pdf}
}
@inproceedings{gil2006iros,
title = {Improving Data Association in Rao-Blackwellized visual SLAM},
author = {Gil, A. and Reinoso, O. and Burgard, W. and Stachniss, C. and Mart\'{i}nez Mozos, O.},
booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
address = {Beijing, China},
year = {2006},
url = {http://www.informatik.uni-freiburg.de/~rottmann/publication/gil06icinco.pdf}
}
@inproceedings{stachniss2005isrr,
title = {Semantic Labeling of Places},
author = {Stachniss, C. and Mart\'{i}nez-Mozos, O. and Rottmann, A. and Burgard, W.},
booktitle = {International Symposium of Robotics Research (ISRR)},
year = {2005},
address = {San Francisco, CA, USA},
url = {http://www.informatik.uni-freiburg.de/~rottmann/publication/stachniss05isrr.pdf}
}
@mastersthesis{rottmann05masterthesis,
title = {Bild- und laserbasierte Klassifikation von Umgebungen mit mobilen Robotern},
author = {Axel Rottmann},
school = {University of Freiburg, Department of Computer Science},
year = {2005},
note = {In German},
url = {http://www.informatik.uni-freiburg.de/~rottmann/publication/rottmann05mt.pdf}
}
@article{plagemann10ras,
title = {A Nonparametric Learning Approach to Range Sensing from Omnidirectional Vision},
author = {C. Plagemann and C. Stachniss and J. Hess and F. Endres and N. Franklin},
journal = {Robotics and Autonomous Systems},
note = {To appear}
}
@article{kretzschmar10ki,
title = {Life-long Map Learning for Graph-based Simultaneous Localization and Mapping},
author = {H. Kretzschmar and G. Grisetti and C. Stachniss},
journal = {{KI} -- {K}uenstliche {I}ntelligenz},
note = {To appear}
}
@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 International Conference on
Robotics \& Automation (ICRA)},
address = {Anchorage, Alaska},
year = 2010,
note = {To appear},
url = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/grisetti10icra.pdf}
}
@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},
series = {Cognitive Systems Monographs},
publisher = {Springer Verlag},
year = 2010,
note = {In press}
}
@phdthesis{stachniss09habil,
author = {C. Stachniss},
title = {Spatial Modeling and Robot Navigation},
type = {Habilitation},
year = 2009,
school = {University of Freiburg, Department of Computer Science},
url = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/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},
year = 2009,
volume = 10,
number = 3,
pages = {428--439},
url = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/grisetti09its.pdf}
}
@inproceedings{endres09rss,
author = {F. Enders and C. Plagemann and Stachniss, C. and Burgard, W.},
title = {Scene Analysis using Latent Dirichlet Allocation},
booktitle = {Proc.~of Robotics: Science and Systems (RSS)},
address = {Seattle, WA, USA},
year = 2009,
url = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/endres09rss-draft.pdf}
}
@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,
address = {Seattle, WA, USA}
}
@inproceedings{sturm09rssws,
author = {J. Sturm and Stachniss, C. and V. Predeap and C. Plagemann and K. Konolige and Burgard, W.},
title = {Towards Understanding Articulated Objects},
booktitle = {Workshop Integrating Mobility and Manipulation at Robotics: Science and Systems (RSS)},
year = 2009,
address = {Seattle, WA, USA}
}
@article{stachniss09auro,
title = {Gas Distribution Modeling using Sparse Gaussian Process Mixtures},
author = {Stachniss, C. and Plagemann, C. and Lilienthal, A.J.},
journal = {Autonomous Robots},
year = 2009,
volume = 26,
issue = 2,
pages = {187ff}
}
@article{stachniss09amai,
title = {Efficient Exploration of Unknown Indoor Environments using a Team of Mobile Robots},
author = {Stachniss, C. and Martinez Mozos, O. and Burgard, W.},
journal = {Annals of Mathematics and Artificial Intelligence},
year = 2009,
volume = 52,
issue = 2,
pages = {205ff}
}
@book{stachniss09springerbook,
author = {C. Stachniss},
title = {Robotic Mapping and Exploration},
publisher = {Springer},
year = 2009,
volume = 55,
series = {STAR Springer tracts in advanced robotics},
isbn = {978-3-642-01096-5}
}
@article{wurm09ras,
title = {Bridging the Gap Between Feature- and Grid-based SLAM},
author = {Wurm, K.M. and Stachniss, C. and Grisetti, G.},
journal = {Robotics and Autonomous Systems},
year = {2009}
}
@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)},
address = {Kobe, Japan},
year = 2009
}
@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 International Conference on
Robotics \& Automation (ICRA)},
address = {Kobe, Japan},
year = 2009
}
@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 International Conference on
Robotics \& Automation (ICRA)},
address = {Kobe, Japan},
year = 2009
}
@inproceedings{kretzschmar08iros,
author = {Kretzschmar, H. and Stachniss, C. and Plagemann, C. and W. Burgard},
title = {Estimating Landmark Locations from Geo-Referenced Photographs},
booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = 2008,
address = {Nice, France},
url = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/kretzschmar08iros.pdf}
}
@inproceedings{pfaff08iros,
author = {Pfaff, P. and Stachniss, C. and Plagemann, C. and W. Burgard},
title = {Efficiently Learning High-dimensional Observation Models for Monte-Carlo Localization using Gaussian Mixtures},
booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = 2008,
address = {Nice, France},
url = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/pfaff08iros.pdf}
}
@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 = {Proc.~of Robotics: Science and Systems (RSS)},
year = 2008,
address = {Zurich, Switzerland},
note = {To appear},
url = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/stachniss08rss.pdf}
}
@inproceedings{mueller08cogsys,
author = {M\"uller, J. and Stachniss, C. and Arras, K.O. and Burgard, W.},
title = {Socially Inspired Motion Planning for Mobile Robots in Populated Environments},
booktitle = {International Conference on Cognitive Systems (CogSys)},
address = {Baden Baden, Germany},
year = 2008
}
@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)},
address = {Pasadena, CA, USA},
year = 2008,
url = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/stachniss08icra.pdf}
}
@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 International Conference on
Robotics \& Automation (ICRA)},
address = {Pasadena, CA, USA},
year = 2008,
url = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/plagemann08icra.pdf}
}
@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 International Conference on
Robotics \& Automation (ICRA)},
address = {Pasadena, CA, USA},
year = 2008,
url = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/grisetti08icra.pdf}
}
@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 International Conference on
Robotics \& Automation (ICRA)},
address = {Pasadena, CA, USA},
year = 2008,
url = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/frank08icra.pdf}
}
@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)},
address = {Pasadena, CA, USA},
year = 2008,
url = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/frank08icraws.pdf}
}
@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,
editor = {Burgard, W. and Brock, O. and Stachniss, C.},
title = {Robotics: Science and Systems III},
publisher = {MIT Press},
year = {2008},
month = {March},
isbn = {0262524848},
note = {In press}
}
@incollection{burgard07starbook,
author = {Burgard, W. and Stachniss, C. and Haehnel, D.},
editor = {Laugier, C. and Chatila, R.},
booktitle = {Autonomous Navigation in Dynamic Environments},
title = {Mobile Robot Map Learning from Range Data in Dynamic Environments},
publisher = {Springer Verlag},
year = 2007,
volume = {35},
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 International Conference on Intelligent Robots and Systems (IROS)},
year = 2007,
address = {San Diego, CA, USA},
url = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/stachniss07iros.pdf}
}
@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 = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = 2007,
address = {San Diego, CA, USA},
url = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/grisetti07iros.pdf}
}
@inproceedings{pfaff07irosws,
author = {Pfaff, P. and Kuemmerle, R. and Joho, D. and Stachniss, C. and Triebel, R. and Burgard},
title = {Navigation in Combined Outdoor and Indoor Environments using Multi-Level Surface Maps},
booktitle = {Workshop on Safe Navigation in Open and Dynamic Environments at the IEEE/RSJ Int.~Conf.~on Intelligent Robots and Systems (IROS)},
year = 2007,
address = {San Diego, CA, USA},
url = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/pfaff07irosws.pdf}
}
@inproceedings{joho07ams,
author = {Joho, D. and Stachniss, C. and Pfaff, P. and Burgard, W.},
title = {Autonomous Exploration for 3D Map Learning},
booktitle = {Proc.~Fachgespr{\"a}che Autonome Mobile Systeme},
year = 2007,
address = {Kaiserslautern, Germany},
url = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/joho07ams.pdf}
}
@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.~Fachgespr{\"a}che Autonome Mobile Systeme},
year = 2007,
address = {Kaiserslautern, Germany},
url = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/strasdat07ams.pdf}
}
@article{stachniss07it,
title = {Efficiently Learning Metric and Topological Maps with Autonomous Service Robots},
author = {Stachniss, C. and Grisetti, G. and Mart\'{i}nez-Mozos, O. and Burgard, W.},
journal = {it -- Information Technology},
editor = {Buss, M. and Lawitzki, G.},
year = 2007,
volume = {49},
number = {4},
pages = {232--238}
}
@inproceedings{grisetti07rss,
author = {Grisetti, G. and Stachniss, C. and Grzonka, S. and Burgard, W.},
title = {A Tree Parameterization for Efficiently Computing Maximum Likelihood Maps using Gradient Descent},
booktitle = {Proc.~of Robotics: Science and Systems (RSS)},
year = 2007,
address = {Atlanta, GA, USA},
pdfurl = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/grisetti07rss.pdf}
}
@inproceedings{pfaff07icra,
author = {Pfaff, P. and Triebel, R. and Stachniss, C. and Lamon, P. and
Burgard, W. and Siegwart, R.},
title = {Towards Mapping of Cities},
booktitle = {Proc.~of the IEEE International Conference on
Robotics \& Automation (ICRA)},
year = 2007,
address = {Rome, Italy},
pdfurl = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/pfaff07icra.pdf}
}
@incollection{martinez07starbook,
author = {Mart\'{i}nez-Mozos, O. and Stachniss, C. and Rottmann, A. and Burgard, W.},
editor = {Thrun, S. and Brooks, R. and Durrant-Whyte, H.},
booktitle = {Robotics Research},
title = {Using AdaBoost for Place Labelling and Topological Map Building},
publisher = {Springer Verlag},
year = 2007,
volume = {28},
series = {STAR Springer tracts in advanced robotics},
isbn = {978-3-540-48110-2},
url = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/martinez07springer.pdf}
}
@article{grisetti07trans,
title = {Improved Techniques for Grid Mapping with Rao-Blackwellized Particle Filters},
author = {Grisetti, G. and Stachniss, C. and Burgard, W.},
journal = {IEEE Transactions on Robotics},
year = 2007,
pages = {34--46},
volume = {23},
number = {1},
pdfurl = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/grisetti07tro.pdf}
}
@article{grisetti07jras,
title = {Fast and Accurate SLAM with Rao-Blackwellized Particle Filters},
author = {Grisetti, G. and Tipaldi, G.D. and Stachniss, C. and
Burgard, W. and Nardi, D.},
journal = {Robotics and Autonomous Systems},
year = {2007},
pages = {30--38},
volume = {55},
number = {1},
pdfurl = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/grisetti07jras.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},
year = 2006,
pages = {145--157},
editor = {Beyerer, J. and Puente Le\'{o}n, F. and Sommer, K.-D.},
isbn = {3-86644-053-7},
pdfurl = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/meier06sensor.pdf}
}
@inproceedings{lamon06smart,
author = {Lamon, P. and Stachniss, C. and Triebel, R. and Pfaff, P. and Plagemann, C. and
Grisetti, G. and Kolski, S. and Burgard, W. and Siegwart, R.},
title = {Mapping with an Autonomous Car},
booktitle = {Workshop on Safe Navigation in Open and Dynamic Environments at the IEEE/RSJ Int.~Conf.~on Intelligent Robots and Systems (IROS)},
year = 2006,
address = {Beijing, China},
pdfurl = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/lamon06iros.pdf}
}
@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 International Conference on Intelligent Robots and Systems (IROS)},
year = 2006,
address = {Beijing, China}
}
@article{sonntag06endod,
title = {Determination of Root Canal Curvatures before and
after Canal Preparation (Part II): A Method based on
Numeric Calculus},
author = {Sonntag, D. and Stachniss-Carp, S. and Stachniss,
C. and Stachniss, V.},
journal = {Aust Endod J},
volume = {32},
pages = {16--25},
year = {2006},
pdfurl = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/sonntag06endod.pdf}
}
@phdthesis{stachniss06phd,
author = {Stachniss, C.},
title = {Exploration and Mapping with Mobile Robots},
school = {University of Freiburg, Department of Computer
Science},
year = 2006,
pdfurl = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/stachniss06phd.pdf}
}
@inproceedings{stachniss06icra,
author = {Stachniss, C. and Mart\'{i}nez-Mozos, O. and
Burgard, W.},
title = {Speeding-Up Multi-Robot Exploration by Considering
Semantic Place Information},
booktitle = {Proc.~of the IEEE International Conference on
Robotics \& Automation (ICRA)},
year = 2006,
address = {Orlando, FL, USA},
pdfurl = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/stachniss06icra.pdf},
pages = {1692--1697}
}
@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 International Conference on
Robotics \& Automation (ICRA)},
year = 2006,
address = {Orlando, FL, USA},
pdfurl = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/grisetti06icra.pdf},
pages = {442--447}
}
@inproceedings{plagemann06euros,
author = {Plagemann, C. and Stachniss, C. and Burgard, W.},
title = {Efficient Failure Detection for Mobile Robots using
Mixed-Abstraction Particle Filters},
editor = {H.I. Christiensen},
booktitle = {European Robotics Symposium 2006},
publisher = {Springer-Verlag Berlin Heidelberg, Germany},
year = 2006,
volume = {22},
series = {STAR Springer tracts in advanced robotics},
pages = {93--107},
isbn = {3-540-32688-X},
pdfurl = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/plagemann06euros.pdf}
}
@inproceedings{bennewitz06euros,
author = {Bennewitz, M. and Stachniss, C. and Burgard, W. and
Behnke, S.},
editor = {H.I. Christiensen},
booktitle = {European Robotics Symposium 2006},
title = {Metric Localization with Scale-Invariant Visual
Features using a Single Perspective Camera},
publisher = {Springer-Verlag Berlin Heidelberg, Germany},
year = 2006,
volume = {22},
series = {STAR Springer tracts in advanced robotics},
pages = {143--157},
isbn = {3-540-32688-X},
pdfurl = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/bennewitz06euros.pdf}
}
@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},
year = 2005,
volume = {19},
number = {10},
pages = {1059--1080},
pdfurl = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/stachniss05ar.pdf}
}
@inproceedings{stachniss05isrr,
author = {Stachniss, C. and Mart\'{i}nez-Mozos, O. and
Rottmann, A. and Burgard, W.},
title = {Semantic Labeling of Places},
booktitle = {Proc.~of the Int. Symposium of Robotics Research (ISRR)},
year = 2005,
address = {San Francisco, CA, USA},
pdfurl = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/stachniss05isrr.pdf}
}
@inproceedings{stachniss05robotics,
title = {Information Gain-based Exploration Using
Rao-Blackwellized Particle Filters},
author = {Stachniss, C. and Grisetti, G. and Burgard, W.},
booktitle = {Proc.~of Robotics: Science and Systems (RSS)},
year = 2005,
address = {Cambridge, MA, USA},
pages = {65--72},
pdfurl = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/stachniss05rss.pdf}
}
@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)},
year = 2005,
pages = {26--31},
address = {Ancona, Italy},
pdfurl = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/meier05ecmr.pdf}
}
@inproceedings{stachniss05aaai,
title = {Mobile Robot Mapping and Localization in Non-Static
Environments},
author = {Stachniss, C. and Burgard, W.},
booktitle = {Proc.~of the National Conference on Artificial Intelligence (AAAI)},
year = 2005,
address = {Pittsburgh, PA, USA},
pages = {1324--1329},
pdfurl = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/stachniss05aaai.pdf}
}
@inproceedings{rottmann05aaai,
title = {Place Classification of Indoor Environments with
Mobile Robots using Boosting},
author = {Rottmann, A. and Mart\'{i}nez-Mozos, O. and
Stachniss, C. and Burgard, W.},
booktitle = {Proc.~of the National Conference on Artificial Intelligence (AAAI)},
year = 2005,
address = {Pittsburgh, PA, USA},
pages = {1306--1311},
pdfurl = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/rottmann05aaai.pdf}
}
@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},
year = 2005,
volume = {12},
number = {2},
pages = {77--89},
pdfurl = {http://ieeexplore.ieee.org/iel5/100/31383/01458329.pdf?arnumber=1458329}
}
@article{burgard05tro,
author = {W. Burgard and M. Moors and C. Stachniss and
F. Schneider},
title = {Coordinated Multi-Robot Exploration},
journal = {IEEE Transactions on Robotics},
year = 2005,
volume = {21},
number = {3},
pages = {376--378},
pdfurl = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/burgard05tro.pdf}
}
@inproceedings{burgard05snowbird,
title = {Information Gain-based Exploration Using
Rao-Blackwellized Particle Filters},
author = {Burgard, W. and Stachniss, C. and Grisetti, G.},
booktitle = {Proc. of the Learning Workshop (Snowbird)},
year = 2005,
address = {Snowbird, UT, USA},
pdfurl = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/burgard05snowbird.pdf}
}
@inproceedings{stachniss05icra,
title = {Recovering Particle Diversity in a Rao-Blackwellized
Particle Filter for SLAM after Actively Closing
Loops},
author = {Stachniss, C. and Grisetti, G. and Burgard, W.},
booktitle = {Proc.~of the IEEE International Conference on
Robotics \& Automation (ICRA)},
year = 2005,
pages = {667--672},
address = {Barcelona, Spain},
pdfurl = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/stachniss05icra.pdf}
}
@inproceedings{martinez05icra,
title = {Supervised Learning of Places from Range Data using
Adaboost},
author = {Mart\'{i}nez-Mozos, O. and Stachniss, C. and
W. Burgard},
booktitle = {Proc.~of the IEEE International Conference on
Robotics \& Automation (ICRA)},
year = 2005,
pages = {1742--1747},
address = {Barcelona, Spain},
pdfurl = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/martinez05icra.pdf}
}
@inproceedings{grisetti05icra,
title = {Improving Grid-based SLAM with Rao-Blackwellized
Particle Filters by Adaptive Proposals and Selective
Resampling},
author = {Grisetti, G. and Stachniss, C. and Burgard, W.},
booktitle = {Proc.~of the IEEE International Conference on
Robotics \& Automation (ICRA)},
year = 2005,
pages = {2443--2448},
address = {Barcelona, Spain},
pdfurl = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/grisetti05icra.pdf}
}
@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)},
year = 2004,
pages = {1--15},
address = {Ilmenau, Germany},
pdfurl = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/stachniss04soave.pdf}
}
@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 International Conference on Intelligent Robots and Systems (IROS)},
year = 2004,
pages = {1505--1510},
address = {Sendai, Japan},
pdfurl = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/stachniss04iros.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 International Conference on Intelligent Robots and Systems (IROS)},
year = 2003,
pages = {476--481},
address = {Las Vegas, NV, USA},
pdfurl = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/stachniss03iros.pdf}
}
@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)},
year = 2003,
pages = {59--64},
address = {Radziejowice, Poland},
pdfurl = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/stachniss03ecmr.pdf}
}
@inproceedings{stachniss03ijcai,
author = {Stachniss, C. and Burgard, W.},
title = {Exploring Unknown Environments with Mobile Robots
using Coverage Maps},
booktitle = {Proc.~of the International Joint Conference on
Artificial Intelligence (IJCAI)},
year = 2003,
pages = {1127--1132},
address = {Acapulco, Mexico},
pdfurl = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/stachniss03ijcai.pdf}
}
@inproceedings{stachniss02iros,
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 International Conference on Intelligent Robots and Systems (IROS)},
year = 2002,
pages = {508--513},
address = {Lausanne, Switzerland},
pdfurl = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/stachniss02iros.pdf}
}
@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,
note = {In German},
pdfurl = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/stachniss02diplom.pdf}
}
@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},
note = {{TO APPEAR}}
}
@article{kuemmerle09auro,
author = {K\"ummerle, R. and Steder, B. and Dornhege, C. and Ruhnke, M. and Grisetti, G.
and Stachniss, C. and Kleiner, A.},
doi = {http://dx.doi.org/10.1007/s10514-009-9155-6},
title = {On Measuring the Accuracy of {SLAM} Algorithms},
journal = {Journal of Autonomous Robots},
year = {2009},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/kuemmerle09auro.pdf}
}
@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)},
address = {St. Louis, MO, USA},
month = oct,
year = {2009},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/steder09iros.pdf}
}
@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)},
address = {St. Louis, MO, USA},
year = {2009},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/burgard09iros.pdf}
}
@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)},
address = {Seattle, WA, USA},
month = {June},
year = {2009},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/kuemmerle09rss.pdf}
}
@inproceedings{ruhnke09icra,
author = {Ruhnke, M. and Steder, B. and Grisetti, G. and Burgard, W.},
title = {Unsupervised Learning of {3D} Object Models from Partial Views},
year = {2009},
address = {Kobe, Japan},
booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/ruhnke09icra.pdf}
}
@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},
year = {2008},
month = {10},
volume = {24},
number = {5},
pages = {1088--1093},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/steder08tro.pdf}
}
@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},
address = {Funchal, Madeira, Portugal},
year = {2008},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/steder08visapp.pdf}
}
@inproceedings{steder07iros,
author = {Steder, B. and Grisetti, G. and Grzonka, S. and
Stachniss, C. and Rottmann, A. and Burgard, W.},
title = {Learning Maps in {3D} using Attitude and Noisy Vision Sensors},
booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = {2007},
address = {San Diego, CA, USA},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/steder07iros.pdf}
}
@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},
address = {San Diego, CA, USA},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/steder07irosws.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},
address = {Freiburg},
type = {Diplomarbeit},
year = {2007},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/steder07da.pdf}
}
@inproceedings{sturm08icra,
title = {Unsupervised Body Scheme Learning through Self-Perception},
author = {J. Sturm and C. Plagemann and W. Burgard},
booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
address = {Pasadena, CA, USA},
year = {2008},
pdfurl = {http://www.informatik.uni-freiburg.de/~sturm/media/sturm08icra.pdf},
pages = {3328--3333}
}
@inproceedings{sturm08rss,
title = {Adaptive Body Scheme Models for Robust Robotic Manipulation},
author = {J. Sturm and C. Plagemann and W. Burgard},
booktitle = {Robotics: Science and Systems (RSS)},
address = {Zurich, Switzerland},
year = {2008},
month = {June},
pdfurl = {http://www.informatik.uni-freiburg.de/~sturm/media/sturm08rss.pdf}
}
@inproceedings{sturm08rss-workshop,
title = {Body Scheme Learning and Life-Long Adaptation for Robotic Manipulation},
author = {J. Sturm and C. Plagemann and W. Burgard},
booktitle = {Proceedings of the Workshop on Robot Manipulation at Robotics: Science and Systems Conference (RSS)},
address = {Zurich, Switzerland},
year = {2008},
month = {June},
pdfurl = {http://www.informatik.uni-freiburg.de/~sturm/media/sturm08rss-workshop.pdf}
}
@inproceedings{sturm09snowbird,
author = {J. Sturm and C. Stachniss and V. Pradeep and C. Plagemann and K. Konolige and W. Burgard},
title = {Learning Kinematic Models for Articulated Objects},
booktitle = {Online Proc. of the Learning Workshop (Snowbird)},
year = 2009,
address = {Clearwater, FL, USA}
}
@inproceedings{eppner09icra,
author = {C. Eppner and J. Sturm and M. Bennewitz and C. Stachniss and W. Burgard},
title = {Imitation Learning with Generalized Task Descriptions},
booktitle = {Proc.~of the IEEE International Conference on Robotics \& Automation (ICRA)},
year = 2009,
address = {Kobe, Japan},
url = {http://www.informatik.uni-freiburg.de/~sturm/media/eppner09icra.pdf}
}
@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://www.informatik.uni-freiburg.de/~sturm/media/schulz09gwr.pdf}
}
@inproceedings{sturm09rss-manip,
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://www.informatik.uni-freiburg.de/~sturm/media/sturm09rss-manip.pdf}
}
@inproceedings{sturm09ijcai,
author = {J. Sturm and V. Pradeep and C. Stachniss and C. Plagemann and K. Konolige and W. Burgard},
title = {Learning Kinematic Models for Articulated Objects},
booktitle = {Proc. of the International Joint Conference on Artificial Intelligence (IJCAI)},
year = {2009},
url = {http://www.informatik.uni-freiburg.de/~sturm/media/sturm09ijcai.pdf}
}
@inproceedings{meyerdel09iros,
author = {D. Meyer-Delius and J. Sturm and W. Burgard},
title = {Regression-Based Online Situation Recognition for Vehicular Traffic Scenarios},
booktitle = {Proc. of the International Conference on Intelligent Robot Systems (IROS)},
year = {2009},
url = {http://www.informatik.uni-freiburg.de/~sturm/media/meyerdelius09iros.pdf}
}
@inproceedings{schneider09iros,
author = {A. Schneider and J. Sturm and 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 International Conference on Intelligent Robot Systems (IROS)},
year = {2009},
url = {http://www.informatik.uni-freiburg.de/~sturm/media/schneida09iros.pdf}
}
@article{sturm09jp,
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},
note = {Neurorobotics},
issn = {0928-4257},
doi = {DOI: 10.1016/j.jphysparis.2009.08.005},
url = {http://www.sciencedirect.com/science/article/B6VMC-4WY6JVM-D/2/0aaabe9b7dc9628c8c818fa87c8b56e9},
author = {J. Sturm and C. Plagemann and W. Burgard}
}
@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 International Conference on Robotics \& Automation (ICRA)},
address = {Anchorage, Alaska},
year = 2010,
url = {http://www.informatik.uni-freiburg.de/~sturm/media/sturm10icra.pdf}
}
@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 International Conference on
Robotics \& Automation (ICRA)},
year = 2010,
address = {Anchorage, USA},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/karg10icra.pdf}
}
@inproceedings{wurm09iros,
author = {Wurm, K.M. and Kuemmerle, R and Stachniss, C. and W. Burgard},
title = {Improving Robot Navigation in Structured Outdoor Environments by Identifying Vegetation from Laser Data},
booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = 2009,
month = oct,
address = {St. Louis, MO, USA},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/wurm09iros.pdf}
}
@article{wurm10ras,
title = {Bridging the Gap Between Feature- and Grid-based SLAM},
author = {Wurm, K.M. and Stachniss, C. and Grisetti, G.},
journal = {Robotics and Autonomous Systems},
volume = {58},
number = {2},
pages = {140 - 148},
year = {2010},
issn = {0921-8890},
doi = {10.1016/j.robot.2009.09.009},
pdfurl = {http://ais.informatik.uni-freiburg.de/publications/papers/wurm10ras.pdf}
}
@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 International Conference on Intelligent Robots and Systems (IROS)},
year = 2008,
month = sep,
address = {Nice, France},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/wurm08iros.pdf}
}
@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)},
address = {Freiburg, Germany},
year = 2007,
month = sep,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/wurm07ecmr.pdf}
}
@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},
address = {Freiburg},
type = {Diplomarbeit},
month = {July},
year = {2007},
note = {In German},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/wurm07da.pdf}
}
