@inproceedings{yue24iros,
  author = {Yao, Yue and Yan, Shengchao and Goehring, Daniel and Burgard, Wolfram and Reichardt, Joerg},
  title = {Improving Out-Of-Distribution Generalization of Trajectory Prediction for Autonomous Driving via Polynomial Representations},
  booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year = 2024,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/yue24iros.pdf},
  address = {Abu Dhabi, UAE}
}
@article{werby24rss,
  author = {Werby, Abdelrhman and Huang, Chenguang and B{\"u}schner, Martin and Valada, Abhinav and Burgard, Wolfram},
  title = {Hierarchical Open-Vocabulary 3D Scene Graphs for Language-Conditioned Robot Navigation},
  booktitle = {Robotics: Science and Systems (RSS)},
  year = 2024,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/werby24rss.pdf},
  address = {Delft, Netherlands}
}
@inproceedings{yan24iros,
  author = {Yan, Shengchao and K{\"o}nig, Lukas and Burgard, Wolfram},
  title = {Agent-Agnostic Centralized Training for Decentralized Multi-Agent Cooperative Driving},
  booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year = 2024,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/yan24iros.pdf},
  address = {Abu Dhabi, UAE}
}
@inproceedings{yan24icra,
  author = {Yan, Shengchao and Zhang, Baohe and Zhang, Yuan and Boedecker, Joschka and Burgard, Wolfram},
  title = {Learning Continuous Control with Geometric Regularity from Robot Intrinsic Symmetry},
  booktitle = {2024 IEEE International Conference on Robotics and Automation (ICRA)},
  year = 2024,
  doi = {10.1109/ICRA57147.2024.10610949},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/yan24icra.pdf}
}
@inproceedings{roefer24iros,
  author = {R{\"o}fer, Adrian and Nematollahi, Iman and Welschehold, Tim and Burgard, Wolfram and Valada, Abhinav},
  title = {Bayesian Optimization for Sample-Efficient Policy Improvement in Robotic Manipulation},
  booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year = 2024,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/roefer24iros.pdf},
  address = {Abu Dhabi, UAE}
}
@article{voedisch24arxiv,
  author = {V{\"o}disch, Niclas and Petek, K{\"u}rsat and K{\"a}ppeler, Markus and Valada, Abhinav and Burgard, Wolfram},
  title = {A Good Foundation is Worth Many Labels: Label-Efficient Panoptic Segmentation},
  journal = {arXiv preprint arXiv:2405.19035},
  year = 2024,
  doi = {10.48550/arXiv.2405.19035},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/voedisch24arxiv.pdf}
}
@article{petek24arxiv,
  author = {Petek, K{\"u}rsat and V{\"o}disch, Niclas and Meyer, Johannes and Cattaneo, Daniele and Valada, Abhinav and Burgard, Wolfram},
  title = {Automatic Target-Less Camera-LiDAR Calibration from Motion and Deep Point Correspondences},
  journal = {arXiv preprint arXiv:2404.17298},
  year = 2024,
  doi = {10.48550/arXiv.2404.17298},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/petek24arxiv.pdf}
}
@inproceedings{schramm24iros,
  author = {Schramm, Jonas and V{\"o}disch, Niclas and Petek, K{\"u}rsat and Burgard, Wolfram and Valada, Abhinav},
  title = {BEVCar: Camera-Radar Fusion for BEV Map and Object Segmentation},
  booktitle = {2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages = {},
  year = 2024,
  doi = {10.48550/arXiv.2403.11761},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/schramm24iros.pdf}
}
@inproceedings{kaeppeler24icra,
  author = {K{\"a}ppeler, Markus and Petek, K{\"u}rsat and V{\"o}disch, Niclas and Burgard, Wolfram and Valada, Abhinav},
  title = {Few-Shot Panoptic Segmentation With Foundation Models},
  booktitle = {2024 IEEE International Conference on Robotics and Automation (ICRA)},
  pages = {7718--7724},
  year = 2024,
  doi = {10.1109/ICRA57147.2024.10611624},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/kaeppeler24icra.pdf}
}
@inproceedings{greve24icra,
  author = {Greve, Elias and B{\"u}chner, Martin and V{\"o}disch, Niclas and Burgard, Wolfram and Valada, Abhinav},
  title = {Collaborative Dynamic 3D Scene Graphs for Automated Driving},
  booktitle = {2024 IEEE International Conference on Robotics and Automation (ICRA)},
  pages = {11118--11124},
  year = 2024,
  doi = {10.1109/ICRA57147.2024.10610112},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/greve24icra.pdf}
}
@article{gomezrosal2024sensors,
  author = {Fischer, Georg* and Bergau, Max* and G{\'o}mez-Rosal, Adriana* and Wachaja, Andreas and Gr{\"a}ter, Johannes and Odenweller, Matthias and Piechottka, Uwe and Hoeflinger, Fabian and Gosala, Nikhil and Wetzel, Niklas and B{\"u}scher, Daniel and Valada, Abhinav and Burgard, Wolfram},
  title = {Evaluation of a Smart Mobile Robotic System for Industrial Plant Inspection and Supervision},
  year = 2024,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/gomezrosal2024sensors.pdf}
}
@inproceedings{huang23iser,
  author = {Huang, Chenguang and Mees, Oier and Zeng, Andy and Burgard, Wolfram},
  title = {Audio Visual Language Maps for Robot Navigation},
  booktitle = {2023 International Symposium on Experimental Robotics (ISER)},
  pages = {105--117},
  year = 2023,
  doi = {https://doi.org/10.1007/978-3-031-63596-0_10},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/huang23iser.pdf}
}
@article{vodisch2023rss,
  author = {V{\"o}disch, Niclas and Petek, K{\"u}rsat and Burgard, Wolfram and Valada, Abhinav},
  title = {CoDEPS: Online Continual Learning for Depth Estimation and Panoptic Segmentation},
  journal = {Robotics: Science and Systems (RSS)},
  year = 2023,
  doi = {10.15607/RSS.2023.XIX.073},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/voedisch23rss.pdf}
}
@inproceedings{voedisch23cvpr-ws,
  author = {V{\"o}disch, Niclas and Cattaneo, Daniele and Burgard, Wolfram and Valada, Abhinav},
  title = {CoVIO: Online Continual Learning for Visual-Inertial Odometry},
  booktitle = {2023 IEEE/CVF Conference on Computer Vision and Pattern Recognition Workshops (CVPRW)},
  pages = {2464--2473},
  year = 2023,
  doi = {10.1109/CVPRW59228.2023.00245},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/voedisch23cvpr-ws.pdf}
}
@article{arce23ral,
  author = {Arce, José and V{\"o}disch, Niclas and Cattaneo, Daniele and Burgard, Wolfram and Valada, Abhinav},
  title = {PADLoC: LiDAR-Based Deep Loop Closure Detection and Registration Using Panoptic Attention},
  journal = {IEEE Robotics and Automation Letters},
  volume = {8},
  number = {3},
  pages = {1319--1326},
  year = 2023,
  doi = {10.1109/LRA.2023.3239312},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/arce23ral.pdf}
}
@inproceedings{voedisch23isrr,
  author = {V{\"o}disch, Niclas and Cattaneo, Daniele and Burgard, Wolfram and Valada, Abhinav},
  title = {Continual SLAM: Beyond Lifelong Simultaneous Localization and Mapping Through Continual Learning},
  booktitle = {Robotics Research},
  pages = {19--35},
  year = 2023,
  doi = {10.1007/978-3-031-25555-7_3},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/voedisch23isrr.pdf},
  publisher = {Springer Nature Switzerland},
  editor = {Billard, Aude and Asfour, Tamim and Khatib,
                   Oussama},
  address = {Cham}
}
@inproceedings{nematollahi23iser,
  author = {Iman Nematollahi and Kirill Yankov and Wolfram Burgard and Tim Welschehold},
  title = {Robot Skill Generalization via Keypoint Integrated Soft Actor-Critic Gaussian Mixture Models},
  booktitle = {Proceedings of the International Symposium on Experimental Robotics (ISER)},
  year = 2023,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/nematollahi23iser.pdf},
  address = {Chiang Mai, Thailand}
}
@article{gomezrosal2023sensors,
  author = {G{\'o}mez-Rosal, Adriana and Bergau, Max and Fischer, Georg and Wachaja, Andreas and Gr{\"a}ter, Johannes and Odenweller, Matthias and Piechottka, Uwe and Hoeflinger, Fabian and Gosala, Nikhil and Wetzel, Niklas and B{\"u}scher, Daniel and Valada, Abhinav and Burgard, Wolfram},
  title = {A Smart Robotic System for Industrial Plant Supervision},
  journal = {arXiv preprint arXiv:2308.05612},
  year = 2023,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/gomezrosal2023sensors.pdf}
}
@inproceedings{nallapareddy2023evcenternet,
  author = {Nallapareddy, Monish R and Sirohi, Kshitij and Drews-Jr, Paulo LJ and Burgard, Wolfram and Cheng, Chih-Hong and Valada, Abhinav},
  title = {EvCenterNet: Uncertainty Estimation for Object Detection using Evidential Learning},
  booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year = 2023,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/nallapareddy2023evcenternet.pdf},
  address = {Detroit, USA}
}
@article{sirohi2023uncertainty,
  author = {Sirohi, Kshitij and Marvi, Sajad and B{\"u}scher, Daniel and Burgard, Wolfram},
  title = {Uncertainty-aware panoptic segmentation},
  journal = {IEEE Robotics and Automation Letters},
  volume = {8},
  number = {5},
  pages = {2629--2636},
  year = 2023,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/sirohi2023uncertainty.pdf},
  publisher = {IEEE}
}
@article{gosala2023skyeye,
  author = {Gosala, Nikhil* and Petek, K{\"u}rsat* and Drews-Jr, Paulo LJ and Burgard, Wolfram and Valada, Abhinav},
  title = {SkyEye: Self-Supervised Bird's-Eye-View Semantic Mapping Using Monocular Frontal View Images},
  journal = {arXiv preprint arXiv:2302.04233},
  year = 2023,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/skyeye23cvpr.pdf}
}
@inproceedings{mees23icra,
  author = {Oier Mees and Jessica Borja-Diaz and Wolfram Burgard},
  title = {Grounding Language with Visual Affordances over Unstructured Data},
  booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
  year = 2023,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/mees23icra.pdf},
  address = {London, UK}
}
@inproceedings{sirohi2023lidaruncertainty,
  author = {Sirohi, Kshitij and Marvi, Sajad and B{\"u}scher, Daniel and Burgard, Wolfram},
  title = {Uncertainty-aware LiDAR Panoptic Segmentation},
  booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
  year = 2023,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/sirohi2023lidaruncertainty.pdf},
  address = {London, UK}
}
@inproceedings{huang23icra,
  author = {Chenguang Huang and Oier Mees and Andy Zeng and Wolfram Burgard},
  title = {Visual Language Maps for Robot Navigation},
  booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
  year = 2023,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/huang23icra.pdf},
  address = {London, UK}
}
@inproceedings{rosete2022corl,
  author = {Erick Rosete-Beas and Oier Mees and Gabriel Kalweit and Joschka Boedecker and Wolfram Burgard},
  title = {Latent Plans for Task Agnostic Offline Reinforcement Learning},
  booktitle = {Proceedings of the 6th Conference on Robot Learning (CoRL)},
  year = 2022,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/rosete22corl.pdf},
  address = {Auckland, New Zealand}
}
@inproceedings{nematollahi22iros,
  author = {Iman Nematollahi and Erick Rosete-Beas and Seyed Mahdi B. Azad and Raghu Rajan and Frank Hutter and Wolfram Burgard},
  title = {T3VIP: Transformation-based 3D Video Prediction},
  booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year = 2022,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/nematollahi22iros.pdf},
  address = {Kyoto, Japan}
}
@inproceedings{dorka22icml-ws,
  author = {Nicolai Dorka and Tim Welschehold and Wolfram Burgard},
  title = {Dynamic Update-to-Data Ratio: Minimizing World Model Overfitting},
  booktitle = {Proc.~of the Workshop on Decision Awareness in Reinforcement Learning on International Conference on Machine Learning (ICML)},
  year = 2022,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/dorka22icml-ws.pdf}
}
@article{mees2022ral-b,
  author = {Oier Mees and Lukas Hermann and Wolfram Burgard},
  title = {What Matters in Language Conditioned Robotic Imitation Learning Over Unstructured Data},
  journal = {IEEE Robotics and Automation Letters (RA-L)},
  volume = {7},
  number = {4},
  pages = {11205--11212},
  year = 2022,
  doi = {10.1109/LRA.2022.3196123},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/mees22ral_b.pdf}
}
@article{mees2022ral-a,
  author = {Oier Mees and Lukas Hermann and Erick Rosete-Beas and Wolfram Burgard},
  title = {CALVIN: A Benchmark for Language-Conditioned Policy Learning for Long-Horizon Robot Manipulation Tasks},
  journal = {IEEE Robotics and Automation Letters (RA-L)},
  volume = {7},
  number = {3},
  pages = {7327--7334},
  year = 2022,
  doi = {10.1109/LRA.2022.3180108},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/mees22ral_a.pdf}
}
@article{chisari22ral,
  author = {Chisari, Eugenio and Welschehold, Tim and Bödecker, Joschka and Burgard, Wolfram and Valada, Abhinav},
  title = {Correct Me if I am Wrong: Interactive Learning for Robotic Manipulation},
  journal = {IEEE Robotics and Automation Letters},
  year = 2022,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/chisari22ral.pdf}
}
@inproceedings{mees22rsspi,
  author = {Oier Mees and Wolfram Burgard},
  title = {Language-Conditioned Policy Learning for Long-Horizon Robot Manipulation Tasks},
  booktitle = {Proc.~of RSS Pioneers at Robotics: Science and Systems (RSS)},
  year = 2022,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/mees22rsspi.pdf},
  address = {New York, USA}
}
@inproceedings{nematollahi22icra,
  author = {Iman Nematollahi and Erick Rosete-Beas and Adrian Roefer and Tim Welschehold and Abhinav Valada and Wolfram Burgard},
  title = {Robot Skill Adaptation via Soft Actor-Critic Gaussian Mixture Models},
  booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation  (ICRA)},
  year = 2022,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/nematollahi22icra.pdf},
  address = {Philadelphia, USA}
}
@inproceedings{petek22icra,
  author = {Kürsat Petek and Kshitij Sirohi and Daniel Büscher and Wolfram Burgard},
  title = {Robust Monocular Localization in Sparse HD Maps Leveraging Multi-Task Uncertainty Estimation},
  booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation  (ICRA)},
  year = 2022,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/petek22icra.pdf},
  address = {Philadelphia, USA}
}
@inproceedings{borja22icra,
  author = {Jessica Borja-Diaz and Oier Mees and Gabriel Kalweit and  Lukas Hermann and Joschka Boedecker and Wolfram Burgard},
  title = {Affordance Learning from Play for Sample-Efficient Policy Learning},
  booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation  (ICRA)},
  year = 2022,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/borja22icra.pdf},
  address = {Philadelphia, USA}
}
@article{yan21ral,
  author = {Yan, Shengchao and Welschehold, Tim and Büscher, Daniel and Burgard, Wolfram},
  title = {Courteous Behavior of Automated Vehicles at Unsignalized Intersections via Reinforcement Learning},
  journal = {IEEE Robotics and Automation Letters},
  volume = {7},
  number = {1},
  pages = {191--198},
  year = 2022,
  doi = {10.1109/LRA.2021.3121807},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/yan21ral.pdf}
}
@inproceedings{dorka21neurips-ws,
  author = {Nicolai Dorka and Joschka Boedecker and Wolfram Burgard},
  title = {Adaptively Calibrated Critic Estimates for Deep Reinforcement Learning},
  booktitle = {Proc.~of the Workshop on Deep Reinforcement Learning at the Conference on Neural Information Processing Systems (NeurIPS)},
  year = 2021,
  month = dec,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/dorka21neurips-ws.pdf}
}
@phdthesis{caselitz21phd,
  author = {Tim Caselitz},
  title = {Camera-based Mapping and Localization in Varying Lighting Conditions},
  school = {University of Freiburg, Department of Computer Science},
  year = 2021,
  month = nov,
  doi = {https://doi.org/10.6094/UNIFR/223887},
  url = {https://freidok.uni-freiburg.de/data/223887}
}
@phdthesis{kollmitz21phd,
  author = {Marina Kollmitz},
  title = {Perception and Learning for Mobile Robots in Populated Environments},
  school = {University of Freiburg, Department of Computer Science},
  year = 2021,
  month = may,
  doi = {https://doi.org/10.6094/UNIFR/218463},
  url = {https://freidok.uni-freiburg.de/data/218463}
}
@phdthesis{zhang21phd,
  author = {Jingwei Zhang},
  title = {Learning Navigation Policies with Deep Reinforcement Learning},
  school = {University of Freiburg, Department of Computer Science},
  year = 2021,
  month = apr,
  doi = {https://doi.org/10.6094/UNIFR/218235},
  url = {https://freidok.uni-freiburg.de/data/218235}
}
@article{krawez21ral,
  author = {Krawez, Michael and Caselitz, Tim and Sundram, Jugesh and Van Loock, Mark and Burgard, Wolfram},
  title = {Real-Time Outdoor Illumination Estimation for Camera Tracking in Indoor Environments},
  journal = {IEEE Robotics and Automation Letters},
  year = 2021,
  doi = {10.1109/LRA.2021.3090455},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/krawez21ral.pdf}
}
@inproceedings{mees21iser,
  author = {Oier Mees and Wolfram Burgard},
  title = {Composing Pick-and-Place Tasks By Grounding Language},
  booktitle = {Proceedings of the International Symposium on Experimental Robotics (ISER)},
  year = 2021,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/mees21iser.pdf},
  address = {La Valletta, Malta}
}
@article{winterhalter21jfr,
  author = {Winterhalter, Wera and Fleckenstein, Freya and Dornhege, Christian and Burgard, Wolfram},
  title = {Localization for precision navigation in agricultural fields—Beyond crop row following},
  journal = {Journal of Field Robotics},
  volume = {38},
  number = {3},
  pages = {429--451},
  year = 2021,
  doi = {10.1002/rob.21995},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/winterhalter21jfr.pdf}
}
@article{pretto20ram,
  author = {Alberto Pretto and St{\'e}phanie Aravecchia and Wolfram Burgard and Nived Chebrolu and Christian Dornhege and Tillmann Falck and Freya Fleckenstein and Alessandra Fontenla and Marco Imperoli and Raghav Khanna and Frank Liebisch and Philipp Lottes and Andres Milioto and Daniele Nardi and Sandro Nardi and Johannes Pfeifer and Marija Popovi{\'{c}} and Ciro Potena and C{\'e}dric Pradalier and Elisa Rothacker-Feder and Inkyu Sa and Alexander Schaefer and Roland Siegwart and Cyrill Stachniss and Achim Walter and Wera Winterhalter and Xiaolong Wu and Juan Nieto},
  title = {Building an Aerial-Ground Robotics System for Precision Farming: An Adaptable Solution},
  journal = {IEEE Robotics \& Automation Magazine},
  volume = {},
  number = {},
  pages = {},
  year = 2020,
  doi = {10.1109/MRA.2020.3012492},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/pretto20ram.pdf}
}
@phdthesis{schmitt20phd,
  author = {Philipp Sebastian Schmitt},
  title = {Planning and Control for Industrial Manipulation},
  school = {University of Freiburg, Department of Computer Science},
  year = 2020,
  month = dec,
  doi = {10.6094/UNIFR/174569},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/schmitt20phd.pdf}
}
@inproceedings{kollmitz20iros,
  author = {Marina Kollmitz and Torsten Koller and Joschka Boedecker and Wolfram Burgard},
  title = {Learning Human-Aware Robot Navigation from Physical Interaction via Inverse Reinforcement Learning},
  booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages = {11025--11031},
  year = 2020,
  doi = {10.1109/IROS45743.2020.9340865},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/kollmitz20iros.pdf},
  address = {Las Vegas, USA}
}
@inproceedings{yan20iros,
  author = {Shengchao Yan and Jingwei Zhang and Daniel Büscher and Wolfram Burgard},
  title = {Efficiency and Equity are Both Essential: A Generalized Traffic Signal Controller with Deep Reinforcement Learning},
  booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages = {5526--5533},
  year = 2020,
  doi = {10.1109/IROS45743.2020.9340784},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/yan20iros.pdf},
  address = {Las Vegas, USA}
}
@inproceedings{meyerjo20iros,
  author = {Johannes Meyer and Andreas Eitel and Thomas Brox and Wolfram Burgard},
  title = {Improving Unimodal Object Recognition with Multimodal Contrastive Learning},
  booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year = 2020,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/meyerjo20iros.pdf},
  address = {Las Vegas, USA}
}
@inproceedings{vertens20iros,
  author = {Johan Vertens and Jannik Zürn and Wolfram Burgard},
  title = {HeatNet: Bridging the Day-Night Domain Gap in Semantic Segmentation with Thermal Images},
  booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year = 2020,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/vertens20iros.pdf},
  address = {Las Vegas, USA}
}
@inproceedings{dorka20iros,
  author = {Nicolai Dorka and Johannes Meyer and Wolfram Burgard},
  title = {Modality-Buffet for Real-Time Object Detection},
  booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year = 2020,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/dorka20iros.pdf},
  address = {Las Vegas, USA}
}
@phdthesis{dewan20phd,
  author = {Ayush Dewan},
  title = {Leveraging Motion and Semantic Cues for 3D Scene Understanding},
  school = {University of Freiburg, Department of Computer Science},
  year = 2020,
  month = may,
  doi = {https://doi.org/10.6094/UNIFR/166816},
  url = {https://freidok.uni-freiburg.de/data/166816}
}
@phdthesis{boniardi@phd,
  author = {Federico Boniardi},
  title = {Methods for Mobile Robot Localization Using Architectural Floor Plans},
  school = {University of Freiburg, Department of Computer Science},
  year = 2020,
  month = may,
  doi = {https://doi.org/10.6094/UNIFR/167265},
  url = {https://freidok.uni-freiburg.de/data/167265}
}
@inproceedings{dewan20icra,
  author = {Ayush Dewan and Wolfram Burgard},
  title = {DeepTemporalSeg: Temporally Consistent Semantic Segmentation of 3D LiDAR Scans},
  booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
  year = 2020,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/dewan20icra.pdf},
  address = {Paris, France}
}
@phdthesis{luft20phd,
  author = {Lukas Luft},
  title = {Efficient Generalizations of Probabilistic Methods for Robot Localization and Mapping},
  school = {University of Freiburg, Department of Computer Science},
  year = 2020,
  month = jul,
  doi = {https://doi.org/10.6094/UNIFR/166492},
  url = {https://freidok.uni-freiburg.de/data/166492}
}
@inproceedings{nematollahi20iros,
  author = {Iman Nematollahi and Oier Mees and Lukas Hermann and Wolfram Burgard},
  title = {Hindsight for Foresight: Unsupervised Structured Dynamics Models from Physical Interaction},
  booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year = 2020,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/nematollahi20iros.pdf},
  address = {Las Vegas, USA}
}
@article{zuern19tro,
  author = {Z{\"u}rn, Jannik and Burgard, Wolfram and Valada, Abhinav},
  title = {Self-supervised visual terrain{\"{}} classification from unsupervised acoustic feature learning},
  journal = {IEEE Transactions on Robotics},
  year = 2020,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/zuern19tro.pdf},
  publisher = {IEEE}
}
@inproceedings{caselitz20icra,
  author = {Tim Caselitz and Michael Krawez and Jugesh Sundram and Mark Van Loock and Wolfram Burgard},
  title = {Camera Tracking in Lighting Adaptable Maps of Indoor Environments},
  booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
  year = 2020,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/caselitz20icra.pdf},
  address = {Paris, France}
}
@inproceedings{mees20icra-a,
  author = {Oier Mees and Markus Merklinger and Gabriel Kalweit and Wolfram Burgard},
  title = {Adversarial Skill Networks: Unsupervised Robot Skill Learning from Videos},
  booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation  (ICRA)},
  year = 2020,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/mees20icra_a.pdf},
  address = {Paris, France}
}
@inproceedings{mees20icra-b,
  author = {Oier Mees and Alp Emek and Johan Vertens and Wolfram Burgard},
  title = {Learning Object Placements For Relational Instructionsby Hallucinating Scene Representations},
  booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation  (ICRA)},
  year = 2020,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/mees20icra_b.pdf},
  address = {Paris, France}
}
@inproceedings{hermann20icra,
  author = {Lukas Hermann and Maximilian Argus and Andreas Eitel and Artemij Amiranashvili and Wolfram Burgard and Thomas Brox},
  title = {Adaptive Curriculum Generation from Demonstrations for Sim-To-Real Visuomotor Control},
  booktitle = {Proceedings of the International Conference on Robotics and Automation (ICRA)},
  year = 2020,
  url = {https://ras.papercept.net/proceedings/ICRA20/1627.pdf},
  address = {Paris, France}
}
@inproceedings{kollmitz20icra,
  author = {Marina Kollmitz and Daniel B\"uscher and Wolfram Burgard},
  title = {Predicting Obstacle Footprints from 2D Occupancy Maps by Learning from Physical Interactions},
  booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
  year = 2020,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/kollmitz20icra.pdf}
}
@phdthesis{schaefer20phd,
  author = {Alexander Schaefer},
  title = {Highly Accurate Lidar-Based Mapping and Localization for Mobile Robots},
  school = {University of Freiburg, Department of Computer Science},
  year = 2020,
  month = mar,
  doi = {https://doi.org/10.6094/UNIFR/155154},
  url = {https://freidok.uni-freiburg.de/data/155154}
}
@article{kolkhorst20frobt,
  author = {Kolkhorst, Henrich and Veit, Joseline and Burgard, Wolfram and Tangermann, Michael},
  title = {A Robust Screen-Free Brain-Computer Interface for Robotic Object Selection},
  journal = {Frontiers in Robotics and AI},
  volume = {7},
  year = 2020,
  doi = {10.3389/frobt.2020.00038},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/kolkhorst20frobt.pdf},
  issn = {2296-9144},
  note = {Research Topic: Advances in the Integration of
                   Brain-Machine Interfaces and Robotic Devices}
}
@inproceedings{fleckenstein19fsr,
  author = {Freya Fleckenstein and Wera Winterhalter and Christian Dornhege and C{\'e}dric Pradalier and Wolfram Burgard},
  title = {Smooth Local Planning Incorporating Steering Constraints},
  booktitle = {12th Conference on Field and Service Robotics (FSR)},
  year = 2019,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/fleckenstein19fsr.pdf}
}
@inproceedings{wirnshofer19iros,
  author = {Wirnshofer, Florian and Schmitt, Philipp S and Meister, Philine and Wichert, Georg v and Burgard, Wolfram},
  title = {Robust, Compliant Assembly with Elastic Parts and Model Uncertainty},
  booktitle = {2019 International Conference on Intelligent Robots and Systems (IROS)},
  year = 2019,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/wirnshofer19iros.pdf},
  organization = {IEEE}
}
@inproceedings{welschehold19iros,
  author = {Tim Welschehold and Nichola Abdo and Christian Dornhege and Wolfram Burgard},
  title = {Combined Task and Action Learning from Human Demonstrations for Mobile Manipulation Applications},
  booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year = 2019,
  doi = {10.1109/IROS40897.2019.8968091},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/welschehold19iros.pdf},
  address = {Hong Kong, China}
}
@inproceedings{schmitt19iros,
  author = {Schmitt, Philipp S and Wirnshofer, Florian and Wurm, Kai M and Wichert, Georg v and Burgard, Wolfram},
  title = {Planning Reactive Manipulation in Dynamic Environments},
  booktitle = {2019 International Conference on Intelligent Robots and Systems (IROS)},
  year = 2019,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/schmitt19iros.pdf},
  organization = {IEEE}
}
@inproceedings{kolkhorst19isrr,
  author = {Henrich Kolkhorst and Wolfram Burgard and Michael Tangermann},
  title = {Learning User Preferences for Trajectories from Brain Signals},
  booktitle = {Proceedings of the International Symposium on Robotics Research (ISRR)},
  year = 2019,
  month = oct,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/kolkhorst19isrr.pdf},
  address = {Hanoi, Vietnam}
}
@inproceedings{valada19isrr,
  author = {Mayank Mittal and Rohit Mohan and Wolfram Burgard and Abhinav Valada},
  title = {Vision-Based Autonomous UAV Navigation and Landing for Urban Search and Rescue},
  booktitle = {Proc.~of the International Symposium on Robotics Research (ISRR)},
  year = 2019,
  month = oct,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/valada19isrr.pdf},
  address = {Hanoi, Vietnam}
}
@inproceedings{eitel19iros,
  author = {Andreas Eitel and Nico Hauff and Wolfram Burgard},
  title = {Self-supervised Transfer Learning for Instance Segmentation through Physical Interaction},
  booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year = 2019,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/eitel19iros.pdf},
  address = {Macau, China}
}
@phdthesis{ruchti19phd,
  author = {Philipp Ruchti},
  title = {Robot Localization and Mapping in Dynamic Environments},
  school = {University of Freiburg, Department of Computer Science, Autonomous Intelligent Systems Group},
  year = 2019,
  doi = {10.6094/UNIFR/149938},
  url = {https://freidok.uni-freiburg.de/data/149938}
}
@article{boniardi19arxiv,
  author = {Federico Boniardi and Abhinav Valada and Rohit Mohan and Tim Caselitz and Wolfram Burgard},
  title = {Robot Localization in Floor Plans Using a Room Layout Edge Extraction Network},
  journal = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year = 2019,
  month = nov,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/boniardi19iros.pdf}
}
@inproceedings{schaefer19ecmr,
  author = {Alexander Schaefer and Daniel B{\"u}scher and Johan Vertens and Lukas Luft and Wolfram Burgard},
  title = {Long-Term Urban Vehicle Localization Using Pole Landmarks Extracted from 3-{D} Lidar Scans},
  booktitle = {European Conference on Mobile Robots (ECMR)},
  pages = {1--7},
  year = 2019,
  month = sep,
  doi = {10.1109/ECMR.2019.8870928},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/schaefer19ecmr.pdf}
}
@article{luft19ral,
  author = {Lukas Luft and Federico Boniardi and Alexander Schaefer and Daniel B{\"u}scher and Wolfram Burgard},
  title = {On the {Bayes} Filter for Shared Autonomy},
  journal = {IEEE Robotics and Automation Letters (RA-L)},
  volume = {4},
  number = {4},
  pages = {3286--3293},
  year = 2019,
  month = oct,
  doi = {10.1109/LRA.2019.2926217},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/luft19ral.pdf}
}
@inproceedings{mees19iros,
  author = {Oier Mees and Maxim Tatarchenko and Thomas Brox and Wolfram Burgard},
  title = {Self-supervised 3D Shape and Viewpoint Estimation from Single Images for Robotics},
  booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year = 2019,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/mees19iros.pdf},
  address = {Macao, China}
}
@article{valada19ijcv,
  author = {Valada, Abhinav and Mohan, Rohit and Burgard, Wolfram},
  title = {Self-Supervised Model Adaptation for Multimodal Semantic Segmentation},
  journal = {International Journal of Computer Vision (IJCV)},
  year = 2019,
  month = jul,
  doi = {10.1007/s11263-019-01188-y},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/valada19ijcv.pdf},
  issn = {1573-1405},
  day = {08},
  note = {Special Issue: Deep Learning for Robotic Vision}
}
@phdthesis{radwan19phd,
  author = {Noha Radwan},
  title = {Leveraging Sparse and Dense Features for Reliable State Estimation in Urban Environments},
  school = {University of Freiburg, Department of Computer Science},
  year = 2019,
  month = jun,
  doi = {10.6094/UNIFR/149856},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/radwan19phd.pdf}
}
@inproceedings{wirnshofer2019icra,
  author = {Wirnshofer, Florian and Schmitt, Philipp S and Meister, Philine and Wichert, Georg v and Burgard, Wolfram},
  title = {State Estimation in Contact-Rich Manipulation},
  booktitle = {2019 IEEE International Conference on Robotics and Automation (ICRA)},
  year = 2019,
  url = {https://ais.informatik.uni-freiburg.de/publications/papers/wirnshofer19icra.pdf},
  googlevideo = {https://ais.informatik.uni-freiburg.de/publications/papers/wirnshofer19icra.mp4},
  organization = {IEEE}
}
@inproceedings{zhang19icmlws,
  author = {Jingwei Zhang and Niklas Wetzel and Nicolai Dorka and Joschka Boedecker and Wolfram Burgard},
  title = {Scheduled Intrinsic Drive: A Hierarchical Take on Intrinsically Motivated Exploration},
  booktitle = {Proc.~of the Workshop of Exploration in Reinforcement Learning at IEEE International Conference on Machine Learning (ICML)},
  year = 2019,
  month = jun,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/zhang19icmlws.pdf},
  address = {Long Beach, USA}
}
@inproceedings{kolkhorst19gbcic,
  author = {Kolkhorst, Henrich and Veit, Joseline and Burgard, Wolfram and Tangermann, Michael},
  title = {Heterogeneity of Event-Related Potentials in a Screen-Free Brain-Computer Interface},
  booktitle = {Proceedings of the 8th {{Graz Brain}}-{{Computer Interface Conference}} 2019},
  year = 2019,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/kolkhorst19gbcic.pdf},
  address = {Graz, Austria}
}
@inproceedings{kolkhorst19embc,
  author = {Kolkhorst, Henrich and K{\"a}rkk{\"a}inen, Saku and Raheim, Amund Faller and Burgard, Wolfram and Tangermann, Michael},
  title = {Influence of {{User Tasks}} on {{EEG}}-Based {{Classification Performance}} in a {{Hazard Detection Paradigm}}},
  booktitle = {2019 41st {{Annual International Conference}} of the {{IEEE Engineering}} in {{Medicine}} and {{Biology Society}} ({{EMBC}})},
  year = 2019,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/kolkhorst19embc.pdf},
  address = {Berlin, Germany}
}
@inproceedings{radwan19rss,
  author = {Noha Radwan and Wolfram Burgard},
  title = {Multitask Learning for Reliable State Estimation},
  booktitle = {Proc.~of RSS Pioneers at Robotics: Science and Systems (RSS)},
  year = 2019,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/radwan19rssws.pdf},
  address = {Freiburg, Germany}
}
@article{zhang19ral,
  author = {Jingwei Zhang and Lei Tai and Yun Peng and Yufeng Xiong and Ming Liu and Joschka Boedecker and Wolfram Burgard},
  title = {VR-Goggles for Robots: Real-to-Sim Domain Adaptation for Visual Control},
  journal = {{IEEE} Robotics and Automation Letters (RA-L)},
  volume = {4},
  number = {2},
  pages = {1148--1155},
  year = 2019,
  doi = {10.1109/LRA.2019.2894216},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/zhang19ral.pdf}
}
@inproceedings{nematollahi19icra,
  author = {Iman Nematollahi and Daniel Kuhner and Tim Welschehold and Wolfram Burgard},
  title = {Augmenting Action Model Learning by Non-Geometric Features},
  booktitle = {2019 IEEE International Conference on Robotics and Automation (ICRA)},
  year = 2019,
  month = may,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/nematollahi19icra.pdf},
  organization = {IEEE}
}
@inproceedings{schaefer19icra,
  author = {Alexander Schaefer and Johan Vertens and Daniel B{\"u}scher and Wolfram Burgard},
  title = {A Maximum Likelihood Approach to Extract Finite Planes from 3-{D} Laser Scans},
  booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
  pages = {72--78},
  year = 2019,
  month = may,
  doi = {10.1109/ICRA.2019.8794318},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/schaefer19icra.pdf}
}
@phdthesis{valada19phd,
  author = {Abhinav Valada},
  title = {Discovering and Leveraging Deep Multimodal Structure for Reliable Robot Perception and Localization},
  school = {University of Freiburg, Department of Computer Science},
  year = 2019,
  month = feb,
  doi = {10.6094/UNIFR/17427},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/valada19phd.pdf}
}
@inproceedings{schmitt19icra,
  author = {Philipp S. Schmitt and Florian Wirnshofer and Kai M. Wurm and Georg V. Wichert and Wolfram Burgard},
  title = {Modeling and Planning Manipulation in Dynamic Environments},
  booktitle = {2019 IEEE International Conference on Robotics and Automation (ICRA)},
  year = 2019,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/schmitt19icra.pdf},
  organization = {IEEE}
}
@article{kollmitz19ras,
  author = {Marina Kollmitz and Andreas Eitel and Andres Vasquez and Wolfram Burgard},
  title = {Deep {3D} perception of people and their mobility aids},
  journal = {Robotics and Autonomous Systems},
  volume = {114},
  pages = {29--40},
  year = 2019,
  doi = {10.1016/j.robot.2019.01.011},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/kollmitz19ras.pdf},
  issn = {0921-8890}
}
@article{boniardi18ras,
  author = {Federico Boniardi and Tim Caselitz and Rainer K{\"u}mmerle and Wolfram Burgard},
  title = {A Pose Graph-based Localization System for Long-term Navigation in {CAD} Floor Plans},
  journal = {Robotics and Autonomous Systems},
  volume = {112},
  pages = {84--97},
  year = 2019,
  doi = {https://doi.org/10.1016/j.robot.2018.11.003},
  url = {http://www.sciencedirect.com/science/article/pii/S0921889018306092},
  issn = {0921-8890}
}
@inproceedings{ruchti18icra,
  author = {Philipp Ruchti and Wolfram Burgard},
  title = {Mapping with Dynamic-Object Probabilities Calculated from Single 3D Range Scans},
  booktitle = {Proc.~of the IEEE Int. Conf. on Robotics \& Automation (ICRA)},
  year = 2018,
  month = may,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/ruchti18icra.pdf},
  address = {Brisbane, Australia}
}
@inproceedings{wirnshofer2018icra,
  author = {Wirnshofer, Florian and Schmitt, Philipp S and Feiten, Wendelin and Wichert, Georg v and Burgard, Wolfram},
  title = {Robust, Compliant Assembly via Optimal Belief Space Planning},
  booktitle = {2018 IEEE International Conference on Robotics and Automation (ICRA)},
  pages = {1--5},
  year = 2018,
  url = {https://ais.informatik.uni-freiburg.de/publications/papers/wirnshofer18icra.pdf},
  googlevideo = {https://ais.informatik.uni-freiburg.de/publications/papers/wirnshofer18icra.mp4},
  organization = {IEEE}
}
@article{luft18ijrr,
  author = {Lukas Luft and Tobias Schubert and Stergios I. Roumeliotis and Wolfram Burgard},
  title = {Recursive decentralized localization for multi-robot systems with asynchronous pairwise communication},
  journal = {The International Journal of Robotics Research},
  volume = {37},
  number = {10},
  pages = {1152--1167},
  year = 2018,
  doi = {10.1177/0278364918760698},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/luft18ijrr.pdf}
}
@inproceedings{welschehold18iros,
  author = {Tim Welschehold and Christian Dornhege and Fabian Paus and Tamim Asfour and Wolfram Burgard},
  title = {Coupling Mobile Base and End-Effector Motion in Task Space},
  booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year = 2018,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/welschehold18iros.pdf},
  address = {Madrid, Spain}
}
@inproceedings{krawez18iros,
  author = {Michael Krawez and Tim Caselitz and Daniel B{\"u}scher and Mark Van Loock and Wolfram Burgard},
  title = {Building Dense Reflectance Maps of Indoor Environments using an RGB-D Camera},
  booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year = 2018,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/krawez18iros.pdf},
  address = {Madrid, Spain}
}
@inproceedings{dewan2018iros,
  author = {Ayush Dewan and Tim Caselitz and Wolfram Burgard},
  title = {Learning a Local Feature Descriptor for 3D LiDAR Scans},
  booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year = 2018,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/dewan18iros.pdf},
  address = {Madrid, Spain}
}
@inproceedings{kolkhorst18iros,
  author = {Henrich Kolkhorst and Michael Tangermann and Wolfram Burgard},
  title = {Guess What I Attend: Interface-Free Object Selection Using Brain Signals},
  booktitle = {2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages = {7111--7116},
  year = 2018,
  month = oct,
  doi = {10.1109/IROS.2018.8593992},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/kolkhorst18iros.pdf},
  issn = {2153-0866},
  address = {Madrid, Spain}
}
@inproceedings{valada18irosws,
  author = {Mayank Mittal and Abhinav Valada and Wolfram Burgard},
  title = {Vision-based Autonomous Landing in Catastrophe-Struck Environments},
  booktitle = {Proc.~of the Workshop on Vision-based Drones: What's Next? at IEEE/RSJ Int.~Conf.~on Intelligent Robots and Systems (IROS)},
  year = 2018,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/valada18irosws.pdf},
  address = {Madrid, Spain}
}
@article{radwan18ral,
  author = {Noha Radwan and Abhinav Valada and Wolfram Burgard},
  title = {VLocNet++: Deep Multitask Learning for Semantic Visual Localization and Odometry},
  journal = {{IEEE} Robotics and Automation Letters (RA-L)},
  volume = {3},
  number = {4},
  pages = {4407--4414},
  year = 2018,
  doi = {10.1109/LRA.2018.2869640},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/radwan18ral.pdf}
}
@inproceedings{kuhnerd18iros,
  author = {Daniel Kuhner and Johannes Aldinger and Felix Burget and Moritz Göbelbecker and Wolfram Burgard and Bernhard Nebel},
  title = {Closed-Loop Robot Task Planning Based on Referring Expressions},
  booktitle = {Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year = 2018,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/kuhnerd18iros.pdf},
  address = {Madrid, Spain}
}
@inproceedings{radwan18iros-ws,
  author = {Noha Radwan and Wolfram Burgard},
  title = {Effective Interaction-aware Trajectory Prediction using Temporal Convolutional Neural Networks},
  booktitle = {Proc.~of the Workshop on Crowd Navigation: Current Challenges and New Paradigms for Safe Robot Navigation in Dense Crowds at IEEE/RSJ Int.~Conf.~on Intelligent Robots and Systems (IROS)},
  year = 2018,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/radwan18iros-ws.pdf},
  address = {Madrid, Spain}
}
@article{winterhalter18ral,
  author = {Wera Winterhalter and Freya Fleckenstein and Christian Dornhege and Wolfram Burgard},
  title = {Crop Row Detection on Tiny Plants With the Pattern Hough Transform},
  journal = {{IEEE} Robotics and Automation Letters (RA-L)},
  volume = {3},
  number = {4},
  pages = {3394--3401},
  year = 2018,
  doi = {10.1109/LRA.2018.2852841},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/winterhalter18ral.pdf}
}
@inproceedings{schaefer18iros,
  author = {Alexander Schaefer and Daniel B{\"u}scher and Lukas Luft and Wolfram Burgard},
  title = {A Maximum Likelihood Approach to Extract Polylines from 2-{D} Laser Range Scans},
  booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages = {4766--4773},
  year = 2018,
  month = oct,
  doi = {10.1109/IROS.2018.8593844},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/schaefer18iros.pdf}
}
@inproceedings{glaser18iros,
  author = {Stefan Glaser and Alexander Schaefer and Wolfram Burgard},
  title = {Mapping and Localization using Multispectral Imaging of the Soil},
  booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Unconventional Sensing and Processing for Robotic Visual Perception Workshop},
  year = 2018,
  month = oct,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/glaser18iros.pdf}
}
@inproceedings{menendez18iv,
  author = {Cristina Men\'{e}ndez-Romero and Mustafa Sezer and Franz Winkler and Christian Dornhege and Wolfram Burgard},
  title = {Courtesy Behavior for Highly Automated Vehicles on Highway Interchanges},
  booktitle = {IEEE Intelligent Vehicles Symposium (IV)},
  pages = {943--948},
  year = 2018,
  doi = {10.1109/IVS.2018.8500407},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/menendez18iv.pdf}
}
@inproceedings{valada18rsslair,
  author = {Abhinav Valada and Noha Radwan and Wolfram Burgard},
  title = {Incorporating Semantic and Geometric Priors in Deep Pose Regression},
  booktitle = {Proc.~of the Workshop on Learning and Inference in Robotics: Integrating Structure, Priors and Models at Robotics: Science and Systems (RSS)},
  year = 2018,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/valada18rsslair.pdf},
  address = {Pittsburgh, USA}
}
@inproceedings{valada18rsspi,
  author = {Abhinav Valada and Wolfram Burgard},
  title = {Learning Reliable and Scalable Representations Using Multimodal Multitask Deep Learning},
  booktitle = {Proc.~of RSS Pioneers at Robotics: Science and Systems (RSS)},
  year = 2018,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/valada18rsspi.pdf},
  address = {Pittsburgh, USA}
}
@inproceedings{do18ias,
  author = {Chau Do and Wolfram Burgard},
  title = {Accurate Pouring with an Autonomous Robot Using an RGB-D Camera},
  booktitle = {The 15th International Conference on Intelligent Autonomous Systems (IAS)},
  year = 2018,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/do18ias.pdf},
  address = {Baden Baden, Germany}
}
@inproceedings{zimmermann18icra,
  author = {Christian Zimmermann and Tim Welschehold and Christian Dornhege and Thomas Brox and Wolfram Burgard},
  title = {3D Human Pose Estimation in RGBD Images for Robotic Task Learning},
  booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
  year = 2018,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/zimmermann18icra.pdf},
  address = {Brisbane, Australia}
}
@inproceedings{kollmitz18icra,
  author = {Marina Kollmitz and Daniel B\"uscher and Tobias Schubert and Wolfram Burgard},
  title = {Whole-Body Sensory Concept for Compliant Mobile Robots},
  booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
  year = 2018,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/kollmitz18icra.pdf},
  address = {Brisbane, Australia}
}
@inproceedings{zhelo18icraws,
  author = {Oleksii Zhelo and Jingwei Zhang and Lei Tai and Ming Liu and Wolfram Burgard},
  title = {Curiosity-driven Exploration for Mapless Navigation with Deep Reinforcement Learning},
  booktitle = {Proc.~of the Workshop in Machine Learning in the Planning and Control of Robot Motion at IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
  year = 2018,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/zhelo18icraws.pdf},
  address = {Brisbane, Australia}
}
@inproceedings{tai18icra,
  author = {Lei Tai and Jingwei Zhang and Ming Liu and Wolfram Burgard},
  title = {Socially Compliant Navigation through Raw Depth Inputs with Generative Adversarial Imitation Learning},
  booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
  year = 2018,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/tai18icra.pdf},
  address = {Brisbane, Australia}
}
@inproceedings{jund18icra,
  author = {Philipp Jund and Andreas Eitel and Nichola Abdo and Wolfram Burgard},
  title = {Optimization Beyond the Convolution: Generalizing Spatial Relations with End-to-End Metric Learning},
  booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
  year = 2018,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/jund18icra.pdf},
  address = {Brisbane, Australia}
}
@article{luft18ral,
  author = {L. Luft and A. Schaefer and T. Schubert and W. Burgard},
  title = {Detecting Changes in the Environment Based on Full Posterior Distributions Over Real-Valued Grid Maps},
  journal = {IEEE Robotics and Automation Letters (RA-L)},
  volume = {3},
  number = {2},
  pages = {1299--1305},
  year = 2018,
  month = apr,
  doi = {10.1109/LRA.2018.2797317},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/luft18ral.pdf},
  issn = {}
}
@article{schaefer18ral,
  author = {A. Schaefer and L. Luft and W. Burgard},
  title = {{DCT} Maps: {compact} Differentiable Lidar Maps Based on the Cosine Transform},
  journal = {IEEE Robotics and Automation Letters (RA-L)},
  volume = {3},
  number = {2},
  pages = {1002--1009},
  year = 2018,
  month = apr,
  doi = {10.1109/LRA.2018.2794602},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/schaefer18ral.pdf},
  issn = {}
}
@inproceedings{valada18icra,
  author = {Abhinav Valada and Noha Radwan and Wolfram Burgard},
  title = {Deep Auxiliary Learning for Visual Localization and Odometry},
  booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
  year = 2018,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/valada18icra.pdf},
  address = {Brisbane, Australia}
}
@inproceedings{schmitt17icra,
  author = {Philipp S. Schmitt and Werner Neubauer and Wendelin Feiten and Kaim M. Wurm and Georg V. Wichert and Wolfram Burgard},
  title = {Optimal, sampling-based manipulation planning},
  booktitle = {2017 IEEE International Conference on Robotics and Automation (ICRA)},
  pages = {3426--3432},
  year = 2017,
  doi = {10.1109/ICRA.2017.7989390},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/schmitt17icra.pdf},
  organization = {IEEE}
}
@inproceedings{menendez17iv,
  author = {Cristina Men\'{e}ndez-Romero and Franz Winkler and Christian Dornhege and Wolfram Burgard},
  title = {Maneuver planning for highly automated vehicles},
  booktitle = {IEEE Intelligent Vehicles Symposium (IV)},
  pages = {1458--1464},
  year = 2017,
  doi = {10.1109/IVS.2017.7995915},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/menendez17iv.pdf}
}
@inproceedings{oliveira17isrr,
  author = {Gabriel Oliveira and Noha Radwan and Wolfram Burgard and Thomas Brox},
  title = {Topometric Localization with Deep Learning},
  booktitle = {Proc.~of the International Symposium on Robotics Research (ISRR)},
  year = 2017,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/oliveira17isrr.pdf},
  address = {Puerto Varas, Chile}
}
@inproceedings{eitel17isrr,
  author = {Andreas Eitel and Nico Hauff and Wolfram Burgard},
  title = {Learning to Singulate Objects using a Push Proposal Network},
  booktitle = {Proc.~of the International Symposium on Robotics Research (ISRR)},
  year = 2017,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/eitel17isrr.pdf},
  address = {Puerto Varas, Chile}
}
@inproceedings{burgard_2017_isrr,
  author = {Wolfram Burgard and Abhinav Valada and Noha Radwan and Tayyab Naseer and Jingwei Zhang and Johan Vertens and Oier Mees and Andreas Eitel and Gabriel Oliveira},
  title = {Perspectives on Deep Multimodel Robot Learning},
  booktitle = {Proc.~of the International Symposium on Robotics Research (ISRR)},
  year = 2017,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/burgard17isrr.pdf},
  address = {Puerto Varas, Chile}
}
@article{kuhnera17frontiers,
  author = {Kuhner, Andreas and Schubert, Tobias and Cenciarini, Massimo and Wiesmeier, Isabella Katharina and Coenen, Volker Arnd and Burgard, Wolfram and Weiller, Cornelius and Maurer, Christoph},
  title = {Correlations between Motor Symptoms across Different Motor Tasks, Quantified via Random Forest Feature Classification in Parkinson’s Disease},
  journal = {Frontiers in Neurology},
  volume = {8},
  pages = {607},
  year = 2017,
  doi = {10.3389/fneur.2017.00607},
  url = {https://www.frontiersin.org/article/10.3389/fneur.2017.00607},
  issn = {1664-2295}
}
@inproceedings{burget17ecmr,
  author = {Felix Burget and Lukas Dominique Josef Fiederer and Daniel Kuhner and Martin Völker and Johannes Aldinger and Robin Tibor Schirrmeister and Chau Do and Joschka Boedecker and Bernhard Nebel and Tonio Ball and Wolfram Burgard},
  title = {Acting Thoughts: Towards a Mobile Robotic Service Assistant for Users with Limited Communication Skills},
  booktitle = {Proc.~of the IEEE European Conference on Mobile Robotics (ECMR)},
  year = 2017,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/burget17ecmr.pdf},
  address = {Paris, France}
}
@inproceedings{vasquez17ecmr,
  author = {Andres Vasquez and Marina Kollmitz and Andreas Eitel and Wolfram Burgard},
  title = {Deep Detection of People and their Mobility Aids for a Hospital Robot},
  booktitle = {Proc.~of the IEEE European Conference on Mobile Robotics (ECMR)},
  year = 2017,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/vasquez17ecmr.pdf}
}
@inproceedings{zhang17iros,
  author = {Jingwei Zhang and Jost Tobias Springenberg and Joschka Boedecker and Wolfram Burgard},
  title = {Deep Reinforcement Learning with Successor Features for Navigation across Similar Environments},
  booktitle = {Proc. ~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year = 2017,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/zhang17iros.pdf}
}
@inproceedings{naseer17iros,
  author = {Naseer, Tayyab and Burgard, Wolfram},
  title = {Deep Regression for Monocular Camera-based 6-DoF Global Localization in Outdoor Environments},
  booktitle = {Proc. ~of the IEEE Int.~Conf.~on Intelligent Robots and Systems (IROS)},
  year = 2017,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/naseer17iros.pdf}
}
@inproceedings{boniardi17iros,
  author = {Federico Boniardi and Tim Caselitz and Rainer K{\"u}mmerle and Wolfram Burgard},
  title = {Robust {L}i{DAR}-based Localization in Architectural Floor Plans},
  booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year = 2017,
  doi = {10.1109/IROS.2017.8206168},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/boniardi17iros.pdf},
  address = {Vancouver, Canada}
}
@inproceedings{welschehold17iros,
  author = {Tim Welschehold and Christian Dornhege and Wolfram Burgard},
  title = {Learning Mobile Manipulation Actions from Human Demonstrations},
  booktitle = {Proc.~of the IEEE Int.~Conf.~on Intelligent Robots and Systems (IROS)},
  year = 2017,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/welschehold17iros.pdf},
  address = {Vancouver, Canada}
}
@inproceedings{kraemer17iros,
  author = {Florian Kraemer and Alexander Schaefer and Andreas Eitel and Johan Vertens and Wolfram Burgard},
  title = {From Plants to Landmarks: {time}-invariant Plant Localization that uses Deep Pose Regression in Agricultural Fields},
  booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Agri-Food Robotics Workshop},
  year = 2017,
  month = sep,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/kraemer17iros.pdf}
}
@inproceedings{kuhnera17iros,
  author = {Andreas Kuhner and Tobias Schubert and Christoph Maurer and Wolfram Burgard},
  title = {An Online System for Tracking the Performance of Parkinson's Patients},
  booktitle = {Proc.~of the IEEE Int.~Conf.~on Intelligent Robots and Systems (IROS)},
  year = 2017,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/kuhnera17iros.pdf}
}
@inproceedings{schiotka17iros,
  author = {Alexander Schiotka and Benjamin Suger and Wolfram Burgard},
  title = {Robot Localization with Sparse Scan-based Maps},
  booktitle = {Proc.~of the IEEE Int.~Conf.~on Intelligent Robots and Systems (IROS)},
  year = 2017,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/schiotka17iros.pdf}
}
@article{valada17ijrr,
  author = {Abhinav Valada and Wolfram Burgard},
  title = {Deep Spatiotemporal Models for Robust Proprioceptive Terrain Classification},
  journal = {The International Journal of Robotics Research (IJRR)},
  volume = {36},
  number = {13--14},
  pages = {1521--1539},
  year = 2017,
  doi = {10.1177/0278364917727062},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/valada17ijrr.pdf},
  publisher = {SAGE Publications Sage UK: London, England}
}
@inproceedings{kolkhorst17gbcic,
  author = {Kolkhorst, Henrich and Burgard, Wolfram and Tangermann, Michael},
  title = {Decoding {{Hazardous Events}} in {{Driving Videos}}},
  booktitle = {Proceedings of the 7th {{Graz Brain}}-{{Computer Interface Conference}} 2017},
  pages = {242--247},
  year = 2017,
  doi = {10.3217/978-3-85125-533-1-45},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/kolkhorst17gbcic.pdf},
  address = {Graz, Austria}
}
@article{chebrolu17,
  author = {Nived Chebrolu and Philipp Lottes and Alexander Schaefer and Wera Winterhalter and Wolfram Burgard and Cyrill Stachniss},
  title = {Agricultural robot dataset for plant classification, localization and mapping on sugar beet fields},
  journal = {The International Journal of Robotics Research (IJRR)},
  volume = {36},
  number = {10},
  pages = {1045--1052},
  year = 2017,
  doi = {10.1177/0278364917720510},
  url = {https://doi.org/10.1177/0278364917720510},
  eprint = {https://doi.org/10.1177/0278364917720510}
}
@article{schaefer17ral,
  author = {Alexander Schaefer* and Lukas Luft* and Wolfram Burgard},
  title = {An Analytical Lidar Sensor Model Based on Ray Path Information},
  journal = {IEEE Robotics and Automation Letters (RA-L)},
  volume = {2},
  number = {3},
  pages = {1405--1412},
  year = 2017,
  month = jul,
  doi = {10.1109/LRA.2017.2669376},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/schaefer17ral.pdf},
  issn = {2377-3766}
}
@inproceedings{luft17iros,
  author = {Lukas Luft* and Alexander Schaefer* and Tobias Schubert and Wolfram Burgard},
  title = {Closed-Form Full Map Posteriors for Robot Localization with Lidar Sensors},
  booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages = {6678--6684},
  year = 2017,
  month = sep,
  doi = {10.1109/IROS.2017.8206583},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/luft17iros.pdf}
}
@inproceedings{radwan17iros,
  author = {Noha Radwan and Wera Winterhalter and Christian Dornhege and Wolfram Burgard},
  title = {Why Did the Robot Cross the Road? - Learning from Multi-Modal Sensor Data for Autonomous Road Crossing},
  booktitle = {Proc.~of the IEEE Int.~Conf.~on Intelligent Robots and Systems (IROS)},
  year = 2017,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/radwan17iros.pdf}
}
@inproceedings{valada17iros,
  author = {Johan Vertens and Abhinav Valada and Wolfram Burgard},
  title = {SMSnet: Semantic Motion Segmentation using Deep Convolutional Neural Networks},
  booktitle = {Proc.~of the IEEE Int.~Conf.~on Intelligent Robots and Systems (IROS)},
  year = 2017,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/valada17iros.pdf}
}
@inproceedings{dewan2017iros,
  author = {Ayush Dewan and  Gabriel L. Oliveira and Wolfram Burgard},
  title = {Deep Semantic Classification for 3D LiDAR Data},
  booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year = 2017,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/dewan17iros.pdf}
}
@inproceedings{suger17icra,
  author = {Suger, Benjamin and Burgard, Wolfram},
  title = {Global Outer-Urban Navigation with OpenStreetMap},
  booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
  year = 2017,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/suger17icra.pdf},
  address = {Singapore, Singapore}
}
@article{naseer17ras,
  author = {Naseer, Tayyab and Suger, Benjamin and Ruhnke, Michael and Burgard, Wolfram},
  title = {Vision-based Markov Localization for Long-term Autonomy},
  journal = {Robotics and Autonomous Systems (RAS)},
  year = 2017,
  url = {http://www.sciencedirect.com/science/article/pii/S0921889016300501}
}
@inproceedings{naseer17icra,
  author = {Naseer, Tayyab and Oliveira, Gabriel and Brox, Thomas and Burgard, Wolfram},
  title = {Semantics-aware Visual Localization under Challenging Perceptual Conditions},
  booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics and Automation (ICRA)},
  year = 2017,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/naseer17icra.pdf},
  address = {Singapore}
}
@inproceedings{fleckenstein17icra,
  author = {Fleckenstein, Freya and Dornhege, Christian and Burgard, Wolfram},
  title = {Efficient Path Planning for Mobile Robots with Adjustable Wheel Positions},
  booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics and Automation (ICRA)},
  year = 2017,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/fleckenstein17icra.pdf},
  address = {Singapore}
}
@inproceedings{mees17iros,
  author = {Oier Mees and Nichola Abdo and Mladen Mazuran and Wolfram Burgard},
  title = {Metric Learning for Generalizing Spatial Relations to New Objects},
  booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year = 2017,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/mees17iros.pdf},
  address = {Vancouver, Canada}
}
@inproceedings{valada17icra,
  author = {Abhinav Valada and Johan Vertens and Ankit Dhall and Wolfram Burgard},
  title = {AdapNet: Adaptive Semantic Segmentation in Adverse Environmental Conditions},
  booktitle = {Proc.~of the IEEE International Conference on Robotics \& Automation (ICRA)},
  year = 2017,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/valada17icra.pdf},
  address = {Singapore}
}
@inproceedings{kolkhorst17hri-ws,
  author = {Kolkhorst, Henrich and Tangermann, Michael and Burgard, Wolfram},
  title = {Decoding {{Perceived Hazardousness}} from {{User}}'s {{Brain States}} to {{Shape Human}}-{{Robot Interaction}}},
  booktitle = {Proceedings of the {{Companion}} of the 2017 {{ACM}}/{{IEEE International Conference}} on {{Human}}-{{Robot Interaction}}},
  pages = {349--350},
  year = 2017,
  doi = {10.1145/3029798.3034826},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/kolkhorst17hri-ws.pdf},
  address = {Vienna, Austria}
}
@article{speck17ral,
  author = {David Speck and Christian Dornhege and Wolfram Burgard},
  title = {Shakey 2016 - How Much Does it Take to Redo Shakey the Robot?},
  journal = {IEEE Robotics and Automation Letters (RA-L)},
  volume = {2},
  number = {2},
  pages = {1203--1209},
  year = 2017,
  doi = {10.1109/LRA.2017.2665694},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/speck17ral.pdf}
}
@article{schopp16tim,
  author = {P. Schopp and H. Graf and W. Burgard and Y. Manoli},
  title = {Self-Calibration of Accelerometer Arrays},
  journal = {{IEEE} Transactions on Instrumentation and Measurement},
  volume = {65},
  number = {8},
  pages = {1913--1925},
  year = 2016,
  doi = {10.1109/TIM.2016.2549758},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/schopp16tim.pdf}
}
@article{abdo16ijrr,
  author = {Abdo, Nichola and Stachniss, Cyrill and Spinello, Luciano and Burgard, Wolfram},
  title = {Organizing objects by predicting user preferences through collaborative filtering},
  journal = {The International Journal of Robotics Research},
  year = 2016,
  doi = {10.1177/0278364916649248},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/abdo16ijrr.pdf},
  publisher = {SAGE Publications Sage UK: London, England}
}
@inproceedings{welschehold16iros,
  author = {Tim Welschehold and Christian Dornhege and Wolfram Burgard},
  title = {Learning Manipulation Actions from Human Demonstrations},
  booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages = {3772--3777},
  year = 2016,
  doi = {10.1109/IROS.2016.7759555},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/welschehold16iros.pdf},
  address = {Daejeon, Korea}
}
@inproceedings{burget16iros,
  author = {Felix Burget and Maren Bennewitz and Wolfram Burgard},
  title = {BI2RRT*: An efficient sampling-based path planning framework for task-constrained mobile manipulation},
  booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages = {3714--3721},
  year = 2016,
  doi = {10.1109/IROS.2016.7759547},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/burget16iros.pdf},
  address = {Daejeon, Korea}
}
@inproceedings{gordillo16iros,
  author = {Camilo Gordillo and Barbara Frank and Istvan Ulbert and Oliver Paul and Patrick Ruther and Wolfram Burgard},
  title = {Automatic channel selection in neural microprobes: A combinatorial multi-armed bandit approach},
  booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages = {1844--1850},
  year = 2016,
  doi = {10.1109/IROS.2016.7759293},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/gordillo16iros.pdf},
  address = {Daejeon, Korea}
}
@article{jund16groceries,
  author = {Philipp Jund and Nichola Abdo and Andreas Eitel and Wolfram Burgard},
  title = {The Freiburg Groceries Dataset},
  booktitle = {CoRR},
  volume = {abs/1611.05799},
  year = 2016,
  month = nov,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/jund16groceries.pdf}
}
@inproceedings{do16iros,
  author = {Chau Do and Tobias Schubert and Wolfram Burgard},
  title = {A Probabilistic Approach to Liquid Level Detection in Cups Using an RGB-D Camera},
  booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year = 2016,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/do16iros.pdf},
  address = {Daejeon, Korea}
}
@inproceedings{valada16irosws,
  author = {Abhinav Valada and Ankit Dhall and Wolfram Burgard},
  title = {Convoluted Mixture of Deep Experts for Robust Semantic Segmentation},
  booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Workshop, State Estimation and Terrain Perception for All Terrain Mobile Robots},
  year = 2016,
  month = oct,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/valada16irosws.pdf},
  address = {Daejeon, Korea}
}
@article{wachaja16ar,
  author = {Wachaja, Andreas and Agarwal, Pratik and Zink, Mathias and Adame, Miguel Reyes and M{\"o}ller, Knut and Burgard, Wolfram},
  title = {Navigating blind people with walking impairments using a smart walker},
  journal = {Autonomous Robots},
  pages = {1--19},
  year = 2016,
  doi = {10.1007/s10514-016-9595-8},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/wachaja16ar.pdf},
  issn = {1573-7527}
}
@inproceedings{kuhner16iros,
  author = {Andreas Kuhner and Tobias Schubert and Massimo Cenciarini and Christoph Maurer and Wolfram Burgard},
  title = {A Probabilistic Approach Based on Random Forests to Estimating Similarity of Human Motion in the Context of Parkinson's Disease},
  booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year = 2016,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/kuhner16iros.pdf},
  address = {Daejeon, Korea}
}
@inproceedings{suger16iros,
  author = {Benjamin Suger and Bastian Steder and Wolfram Burgard},
  title = {Terrain-Adaptive Obstacle Detection},
  booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year = 2016,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/suger16iros.pdf},
  address = {Daejeon, Korea}
}
@inproceedings{caselitz16iros,
  author = {Tim Caselitz and Bastian Steder and Michael Ruhnke and Wolfram Burgard},
  title = {Monocular Camera Localization in 3D LiDAR Maps},
  booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year = 2016,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/caselitz16iros.pdf},
  address = {Daejeon, Korea}
}
@inproceedings{valada16rssws,
  author = {Abhinav Valada and Gabriel Oliveira and Thomas Brox and Wolfram Burgard},
  title = {Towards Robust Semantic Segmentation using Deep Fusion},
  booktitle = {Robotics: Science and Systems (RSS 2016) Workshop, Are the Sceptics Right? Limits and Potentials of Deep Learning in Robotics},
  year = 2016,
  month = jun,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/valada16rssws.pdf},
  address = {Ann Arbor, USA}
}
@inproceedings{valada16iser,
  author = {Abhinav Valada and Gabriel Oliveira and Thomas Brox and Wolfram Burgard},
  title = {Deep Multispectral Semantic Scene Understanding of Forested Environments using Multimodal Fusion},
  booktitle = {The 2016 International Symposium on Experimental Robotics (ISER 2016)},
  year = 2016,
  month = oct,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/valada16iser.pdf},
  address = {Tokyo, Japan}
}
@inproceedings{mees16iros,
  author = {Oier Mees and Andreas Eitel and Wolfram Burgard},
  title = {Choosing Smartly: Adaptive Multimodal Fusion for Object Detection in Changing Environments},
  booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year = 2016,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/mees16iros.pdf},
  address = {Daejeon, Korea}
}
@inproceedings{dewan2016iros,
  author = {Ayush Dewan and Tim Caselitz and Gian Diego Tipaldi and Wolfram Burgard},
  title = {Rigid Scene Flow for 3D LiDAR Scans},
  booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year = 2016,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/dewan-16iros.pdf},
  address = {Daejeon, Korea}
}
@inproceedings{oliveira2016iros,
  author = {Gabriel Oliveira and Wolfram Burgard and Thomas Brox},
  title = {Efficient Deep Models for Monocular Road Segmentation},
  booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016)},
  year = 2016,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/oliveira16iros.pdf},
  address = {Daejeon, Korea}
}
@inproceedings{luft16rss,
  author = {Lukas Luft AND Tobias Schubert AND Stergios I. Roumeliotis AND Wolfram Burgard},
  title = {Recursive Decentralized Collaborative Localization for Sparsely Communicating Robots},
  booktitle = {Proceedings of Robotics: Science and Systems},
  year = 2016,
  month = jun,
  doi = {10.15607/RSS.2016.XII.016},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/luft16rss.pdf},
  address = {AnnArbor, Michigan}
}
@inproceedings{schubert16icra,
  author = {Tobias Schubert and Katharina Eggensperger and Alexis Gkogkidis and Frank Hutter and Tonio Ball and Wolfram Burgard},
  title = {Automatic Bone Parameter Estimation for Skeleton Tracking in Optical Motion Capture},
  booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
  year = 2016,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/schubert16icra.pdf},
  address = {Stockholm, Sweden}
}
@inproceedings{oliveira2016,
  author = {Gabriel Oliveira and Abhinav Valada and Claas Bollen and Wolfram Burgard and Thomas Brox},
  title = {Deep Learning for Human Part Discovery in Images},
  booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
  year = 2016,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/oliveira16icra.pdf},
  address = {Stockholm, Sweden}
}
@inproceedings{dewan16icra,
  author = {Ayush Dewan and Tim Caselitz and Gian Diego Tipaldi and Wolfram Burgard},
  title = {Motion-based Detection and Tracking in 3D LiDAR Scans},
  booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
  year = 2016,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/dewan16icra.pdf},
  address = {Stockholm, Sweden}
}
@inproceedings{radwan16icra,
  author = {Noha Radwan and Gian Diego Tipaldi and Luciano Spinello and Wolfram Burgard},
  title = {Do you see the Bakery? Leveraging Geo-Referenced Texts for Global Localization in Public Maps},
  booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
  year = 2016,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/radwan16icra.pdf},
  address = {Stockholm, Sweden}
}
@inproceedings{boniardi16icra,
  author = {Federico Boniardi and Abhinav Valada and Wolfram Burgard and Gian Diego Tipaldi},
  title = {Autonomous Indoor Robot Navigation Using a Sketch Interface for Drawing Maps and Routes},
  booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
  year = 2016,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/boniardi16icra.pdf},
  address = {Stockholm, Sweden}
}
@article{osswald16ral,
  author = {Stefan O{\ss}wald and Maren Bennewitz and Wolfram Burgard and Cyrill Stachniss},
  title = {Speeding-Up Robot Exploration by Exploiting Background Information},
  journal = {{IEEE} Robotics and Automation Letters (RA-L)},
  volume = {1},
  number = {2},
  pages = {716--723},
  year = 2016,
  doi = {10.1109/LRA.2016.2520560},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/osswald16ral.pdf},
  issn = {2377-3766}
}
@article{sprunk16auro,
  author = {Christoph Sprunk and Boris Lau and Patrick Pfaff and Wolfram Burgard},
  title = {An Accurate and Efficient Navigation System for Omnidirectional Robots in Industrial Environments},
  journal = {Autonomous Robots},
  pages = {1--21},
  year = 2016,
  doi = {10.1007/s10514-016-9557-1},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/sprunk16auro.pdf},
  issn = {1573-7527}
}
@article{kretzschmar16ijrr,
  author = {Henrik Kretzschmar and Markus Spies and Christoph Sprunk and Wolfram Burgard},
  title = {Socially Compliant Mobile Robot Navigation via Inverse Reinforcement Learning},
  journal = {The International Journal of Robotics Research},
  year = 2016,
  doi = {10.1177/0278364915619772},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/kretzschmar16ijrr.pdf}
}
@inproceedings{vysotska15icra,
  author = {Vysotska, Olga and Naseer, Tayyab and Spinello, Luciano  and Burgard, Wolfram and Stachniss, Cyrill},
  title = {Efficient and Effective Matching of Image Sequences Under Substantial Appearance Changes Exploiting GPS Priors},
  booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
  year = 2015,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/vysotska15icra.pdf}
}
@phdthesis{sprunk15phd,
  author = {Christoph Sprunk},
  title = {Highly Accurate Mobile Robot Navigation},
  school = {Albert-Ludwigs-University of Freiburg, Department of Computer Science},
  year = 2015,
  month = nov,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/sprunk15phd.pdf}
}
@phdthesis{agarwal15phd,
  author = {Pratik Agarwal},
  title = {Robust Graph-Based Localization and Mapping},
  school = {Albert-Ludwigs-University of Freiburg, Department of Computer Science},
  year = 2015,
  month = apr,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/agarwal15phd.pdf}
}
@inproceedings{burget15iros,
  author = {Felix Burget and Christoph Maurer and Wolfram Burgard and Maren Bennewitz},
  title = {Learning motor control parameters for motion strategy analysis of Parkinson's disease patients},
  booktitle = {Proc.~of the IEEE Int.~Conf.~on Intelligent Robots and Systems (IROS)},
  pages = {5019--5025},
  year = 2015,
  doi = {10.1109/IROS.2015.7354083},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/burget15iros.pdf},
  address = {Hamburg, Germany}
}
@inproceedings{eitel15iros,
  author = {Andreas Eitel and Jost Tobias Springenberg and Luciano Spinello and Martin Riedmiller and Wolfram Burgard},
  title = {Multimodal Deep Learning for Robust RGB-D Object Recognition},
  booktitle = {Proc.~of the IEEE Int.~Conf.~on Intelligent Robots and Systems (IROS)},
  year = 2015,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/eitel15iros.pdf},
  address = {Hamburg, Germany}
}
@inproceedings{agarwal15iros,
  author = {Pratik Agarwal and Wolfram Burgard and Luciano Spinello},
  title = {Metric Localization using Google Street View},
  booktitle = {Proc.~of the IEEE Int.~Conf.~on Intelligent Robots and Systems (IROS)},
  year = 2015,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/agarwal15iros.pdf},
  address = {Hamburg, Germany}
}
@inproceedings{behzadian15iros,
  author = {Bahram Behzadian and Pratik Agarwal and Wolfram Burgard and Gian Diego Tipaldi},
  title = {Monte Carlo Localization in Hand-Drawn Maps},
  booktitle = {Proc.~of the IEEE Int.~Conf.~on Intelligent Robots and Systems (IROS)},
  year = 2015,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/behzadian15iros.pdf},
  address = {Hamburg, Germany}
}
@inproceedings{wachaja15iros,
  author = {Wachaja, Andreas and Agarwal, Pratik and Zink, Mathias and Reyes Adame, Miguel and M\"oller, Knut and Burgard, Wolfram},
  title = {Navigating Blind People with a Smart Walker},
  booktitle = {Proc.~of the IEEE Int.~Conf.~on Intelligent Robots and Systems (IROS)},
  year = 2015,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/wachaja15iros.pdf},
  address = {Hamburg, Germany}
}
@inproceedings{naseer15iros,
  author = {Naseer, Tayyab and Ruhnke, Michael and Spinello, Luciano and Stachniss, Cyrill and Burgard, Wolfram},
  title = {Robust Visual SLAM Across Seasons},
  booktitle = {Proc.~of the IEEE Int.~Conf.~on Intelligent Robots and Systems (IROS)},
  year = 2015,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/naseer15iros.pdf}
}
@inproceedings{roewekaemper15iros,
  author = {J\"org R\"owek\"amper and Benjamin Suger and Wolfram Burgard and Gian Diego Tipaldi},
  title = {Accurate Localization with Respect to Moving Objects via Multiple-Body Registration},
  booktitle = {Proc.~of the IEEE Int. Conf. on Intelligent Robots and Systems (IROS)},
  year = 2015,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/roewekaemper15iros.pdf}
}
@inproceedings{winterhalter15iros,
  author = {Winterhalter, Wera and Fleckenstein, Freya and Steder, Bastian and Spinello, Luciano and Burgard, Wolfram},
  title = {Accurate Indoor Localization for {RGB-D} Smartphones and Tablets given {2D} Floor Plans},
  booktitle = {Proc.~of the IEEE Int. Conf. on Intelligent Robots and Systems (IROS)},
  year = 2015,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/winterhalter15iros.pdf}
}
@inproceedings{mazuran15isrr,
  author = {Mladen Mazuran and Federico Boniardi and Wolfram Burgard and Gian Diego Tipaldi},
  title = {Relative Topometric Localization in Globally Inconsistent Maps},
  booktitle = {Proc.~of the International Symposium on Robotics Research (ISRR)},
  year = 2015,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/mazuran15isrr.pdf},
  address = {Sestri Levante}
}
@inproceedings{valada15isrr,
  author = {Abhinav Valada and Luciano Spinello and Wolfram Burgard},
  title = {Deep Feature Learning for Acoustic-based Terrain Classification},
  booktitle = {Proc.~of the International Symposium on Robotics Research (ISRR)},
  year = 2015,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/valada15isrr.pdf},
  address = {Sestri Levante}
}
@inbook{burgard15worldrobotics,
  author = {Wolfram Burgard and Patrick Pfaff and Christoph Sprunk},
  title = {World Robotics 2015 Service Robots: Statistics, Market Analysis, Forecasts, Case Studies},
  pages = {256--263},
  year = 2015,
  isbn = {978-3-8163-0680-1},
  publisher = {International Federation of Robotics (IFR),
                   Statistical Department},
  editor = {Martin H\"agele},
  chapter = {Flexible Autonomous Navigation for Industrial Shop
                   Floor Applications}
}
@inproceedings{kollmitz15ecmr,
  author = {Marina Kollmitz and Kaijen Hsiao and Johannes Gaa and Wolfram Burgard},
  title = {Time Dependent Planning on a Layered Social Cost Map for Human-Aware Robot Navigation},
  booktitle = {Proc.~of the IEEE European Conference on Mobile Robots (ECMR)},
  year = 2015,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/kollmitz15ecmr.pdf},
  address = {Lincoln}
}
@inproceedings{boniardi15ecmr,
  author = {Federico Boniardi and Bahram Behzadian and Wolfram Burgard and Gian Diego Tipaldi},
  title = {Robot Navigation in Hand-Drawn Sketched Maps},
  booktitle = {Proc.~of the IEEE European Conference on Mobile Robots (ECMR)},
  year = 2015,
  doi = {10.1109/ECMR.2015.7324188},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/boniardi15ecmr.pdf},
  address = {Lincoln}
}
@inproceedings{dilucia15ecmr,
  author = {Stefano {Di~Lucia} and Gian Diego Tipaldi and Wolfram Burgard},
  title = {Attitude Stabilization Control of an Aerial Manipulator using a Quaternion-based Backstepping Approach},
  booktitle = {Proc.~of the IEEE European Conference on Mobile Robots (ECMR)},
  year = 2015,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/dilucia15ecmr.pdf},
  address = {Lincoln}
}
@inproceedings{naseer15ecmr,
  author = {Naseer, Tayyab and Suger, Benjamin and Ruhnke, Michael and Burgard, Wolfram},
  title = {Vision-Based Markov Localization Across Large Perceptual Changes},
  booktitle = {Proc.~of the IEEE European Conference on Mobile Robots (ECMR)},
  year = 2015,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/naseer15ecmr.pdf},
  address = {Lincoln}
}
@inproceedings{mazuran15icra,
  author = {Mladen Mazuran and Christoph Sprunk and Wolfram Burgard and Gian Diego Tipaldi},
  title = {Lex{TOR}: Lexicographic Teach Optimize and Repeat Based on User Preferences},
  booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
  year = 2015,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/mazuran15icra.pdf},
  address = {Seattle}
}
@inproceedings{schroeer15icra,
  author = {S. Schr\"oer and I. Killmann and B. Frank and M. V\"olker and L. D. J. Fiederer and T. Ball and W. Burgard},
  title = {An Autonomous Robotic Assistant for Drinking},
  booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
  year = 2015,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/schroeer15icra.pdf}
}
@inproceedings{schubert15icra,
  author = {Tobias Schubert and Alexis Gkogkidis and Tonio Ball and Wolfram Burgard},
  title = {Automatic Initialization for Skeleton Tracking in Optical Motion Capture},
  booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
  pages = {734--739},
  year = 2015,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/schubert15icra.pdf}
}
@inproceedings{frank15icra,
  author = {B. Frank and M. Ruhnke and M. Tatarchenko and W. Burgard},
  title = {{3D}-Reconstruction of Indoor Environments from Human Activity},
  booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
  year = 2015,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/frank15icra.pdf}
}
@inproceedings{roewekaemper15icra,
  author = {J\"org R\"owek\"amper and Michael Ruhnke and Bastian Steder and Wolfram Burgard and Gian Diego Tipaldi},
  title = {Automatic Extrinsic Calibration of Multiple Laser Range Sensors with Little Overlap},
  booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
  year = 2015,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/roewekaemper15icra.pdf}
}
@inproceedings{ruchti15icra,
  author = {Philipp Ruchti and Bastian Steder and Michael Ruhnke and Wolfram Burgard},
  title = {Localization on OpenStreetMap Data using a 3D Laser Scanner},
  booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
  year = 2015,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/ruchti15icra.pdf}
}
@inproceedings{suger15icra,
  author = {Benjamin Suger and Bastian Steder and Wolfram Burgard},
  title = {Traversability Analysis for Mobile Robots in Outdoor Environments: A Semi-Supervised Learning Approach Based on 3D-Lidar Data},
  booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
  year = 2015,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/suger15icra.pdf}
}
@inproceedings{steder15icra,
  author = {Bastian Steder and Michael Ruhnke and Rainer K{\"u}mmerle and Wolfram Burgard},
  title = {Maximum Likelihood Remission Calibration for Groups of Heterogeneous Laser Scanners},
  booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
  year = 2015,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/steder15icra.pdf}
}
@inproceedings{kuderer15icra,
  author = {Markus Kuderer and Shilpa Gulati and Wolfram Burgard},
  title = {Learning Driving Styles for Autonomous Vehicles from Demonstration},
  booktitle = {Proc.~of the IEEE International Conference on Robotics and Automation (ICRA)},
  year = 2015,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/kuderer15icra.pdf},
  address = {Seattle, USA}
}
@inproceedings{abdo15icra,
  author = {Nichola Abdo and Cyrill Stachniss and Luciano Spinello and Wolfram Burgard},
  title = {Robot, Organize my Shelves! Tidying up Objects by Predicting User Preferences},
  booktitle = {Proc.~of the IEEE International Conference on Robotics and Automation (ICRA)},
  year = 2015,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/abdo15icra.pdf},
  address = {Seattle, USA}
}
@incollection{sprunk14iser,
  author = {C. Sprunk and J. Roewekaemper and G. Parent and L. Spinello and G. D. Tipaldi and W. Burgard and M. Jalobeanu},
  title = {An Experimental Protocol for Benchmarking Robotic Indoor Navigation},
  booktitle = {Experimental Robotics},
  volume = {109},
  pages = {487--504},
  year = 2015,
  doi = {10.1007/978-3-319-23778-7_32},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/sprunk14iser.pdf},
  isbn = {978-3-319-23777-0},
  publisher = {Springer International Publishing},
  series = {Springer Tracts in Advanced Robotics},
  editor = {Hsieh, M. Ani and Khatib, Oussama and Kumar,
                   Vijay}
}
@article{kummerle14jfr,
  author = {K{\"u}mmerle, Rainer and Ruhnke, Michael and Steder, Bastian and Stachniss, Cyrill and Burgard, Wolfram},
  title = {Autonomous Robot Navigation in Highly Populated Pedestrian Zones},
  journal = {Journal of Field Robotics},
  year = 2014,
  doi = {10.1002/rob.21534},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/kuemmerle14jfr.pdf}
}
@article{endres14tro,
  author = {F. Endres and J. Hess and J. Sturm and D. Cremers and W. Burgard},
  title = {3{D} Mapping with an {RGB-D} Camera},
  journal = {IEEE Trans. on Robotics},
  volume = {30},
  number = {1},
  pages = {177--187},
  year = 2014,
  month = feb,
  doi = {10.1109/TRO.2013.2279412},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/endres14tro.pdf}
}
@inproceedings{endres14iros,
  author = {F. Endres and C. Sprunk and R. K{\"u}mmerle and W. Burgard},
  title = {A Catadioptric Extension for {RGB-D} Cameras},
  booktitle = {Proc.~of the IEEE/RSJ Int.~Conf.~on Intelligent Robots and Systems (IROS)},
  year = 2014,
  doi = {10.1109/IROS.2014.6942600},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/endres14iros.pdf},
  location = {Chicago, Illinois, USA}
}
@inproceedings{vysotska14iros,
  author = {O. Vysotska and B. Frank and I. Ulbert and O. Paul and P. Ruther and C. Stachniss and W. Burgard},
  title = {Automatic Channel Selection and Neural Signal Estimation across Channels of Neural Probes},
  booktitle = {Proceedings of the {IEEE/RSJ} International Conference on Intelligent Robots and Systems ({IROS})},
  pages = {1453--1459},
  year = 2014,
  month = sep,
  doi = {10.1109/IROS.2014.6942748},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/vysotska14iros.pdf},
  keyword = {Neurorobotics, Brain Machine Interfaces},
  address = {Chicago, IL, USA}
}
@inproceedings{wachaja14iros-ws,
  author = {Andreas Wachaja and Pratik Agarwal and Miguel Reyes Adame and Knut M\"oller and Wolfram Burgard},
  title = {A Navigation Aid for Blind People with Walking Disabilities},
  booktitle = {IROS Workshop on Rehabilitation and Assistive Robotics: Bridging the Gap Between Clinicians and Roboticists},
  year = 2014,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/wachaja14iros-ws.pdf},
  address = {Chicago, USA}
}
@article{agarwal14ram,
  author = {Pratik Agarwal and Wolfram Burgard and Cyrill Stachniss},
  title = {A Survey of Geodetic Approaches to Mapping and the Relationship to Graph-Based SLAM},
  journal = {Robotics and Automation Magazine},
  year = 2014,
  month = sep,
  doi = {10.1109/MRA.2014.2322282},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/agarwal-geodetic.pdf}
}
@inproceedings{agarwal14icra-dcs,
  author = {Pratik Agarwal and Giorgio Grisetti and Gian Diego Tipaldi and Luciano Spinello and Wolfram Burgard and Cyrill Stachniss},
  title = {Experimental Analysis of Dynamic Covariance Scaling for Robust Map Optimization Under Bad Initial Estimates},
  booktitle = {Proceedings of the {IEEE} International Conference on Robotics and Automation ({ICRA})},
  year = 2014,
  doi = {10.1109/ICRA.2014.6907383},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/agarwal2014bicra.pdf},
  keyword = {SLAM, Robust optimization},
  address = {Hong Kong, China}
}
@inproceedings{agarwal14icra-geo,
  author = {Pratik Agarwal and Wolfram Burgard and Cyrill Stachniss},
  title = {Helmert's and Bowie's Geodetic Mapping Methods and Their Relationship to Graph-Based SLAM},
  booktitle = {Proceedings of the {IEEE} International Conference on Robotics and Automation ({ICRA})},
  year = 2014,
  doi = {10.1109/ICRA.2014.6907382},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/agarwal2014aicra.pdf},
  keyword = {SLAM, Survey, Geodetic},
  address = {Hong Kong, China}
}
@inproceedings{beinhofer14arw,
  author = {Maximilian Beinhofer and Wolfram Burgard},
  title = {Efficient Estimation of Expected Distributions for Mobile Robot Navigation},
  booktitle = {Proc.~of the Austrian Robotics Workshop (ARW)},
  year = 2014,
  month = may,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/beinhofer14arw.pdf},
  address = {Linz, Austria}
}
@phdthesis{joho14diss,
  author = {Dominik Joho},
  title = {Learning and Utilizing Spatial Object Relations for Service Robots},
  school = {Albert-Ludwigs-Universit\"{a}t Freiburg},
  year = 2014,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/joho14diss.pdf}
}
@inproceedings{kuderer14icsr,
  author = {Markus Kuderer and Wolfram Burgard},
  title = {An Approach to Socially Compliant Leader Following for Mobile Robots},
  booktitle = {Social Robotics},
  volume = {8755},
  pages = {239--248},
  year = 2014,
  doi = {10.1007/978-3-319-11973-1_24},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/kuderer14icsr.pdf},
  publisher = {Springer International Publishing},
  series = {Lecture Notes in Computer Science}
}
@inproceedings{kretzschmar14icra,
  author = {Henrik Kretzschmar and Markus Kuderer and Wolfram Burgard},
  title = {Learning to Predict Trajectories of Cooperatively Navigating Agents},
  booktitle = {Proc.~of the IEEE International Conference on Robotics and Automation (ICRA)},
  year = 2014,
  doi = {10.1109/ICRA.2014.6907442},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/kretzschmar14icra.pdf},
  address = {Hong Kong, China}
}
@inproceedings{kuderer14icra,
  author = {Markus Kuderer and Christoph Sprunk and Henrik Kretzschmar and Wolfram Burgard},
  title = {Online Generation of Homotopically Distinct Navigation Paths},
  booktitle = {Proc.~of the IEEE International Conference on Robotics and Automation (ICRA)},
  year = 2014,
  doi = {10.1109/ICRA.2014.6907813},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/kuderer14icra.pdf},
  address = {Hong Kong, China}
}
@inproceedings{osswald14icra,
  author = {Stefan O{\ss}wald and Henrik Kretzschmar and Wolfram Burgard and Cyrill Stachniss},
  title = {Learning to Give Route Directions from Human Demonstrations},
  booktitle = {Proc.~of the IEEE International Conference on Robotics and Automation (ICRA)},
  pages = {3303--3308},
  year = 2014,
  month = may,
  doi = {10.1109/ICRA.2014.6907334},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/osswald14icra.pdf},
  address = {Hong Kong, China},
  abstract = {For several applications, robots and other
                   computer systems must provide route descriptions to
                   humans. These descriptions should be natural and
                   intuitive for the human users. In this paper, we
                   present an algorithm that learns how to provide
                   good route descriptions from a corpus of human-
                   written directions. Using inverse reinforcement
                   learning, our algorithm learns how to select the
                   information for the description depending on the
                   context of the route segment. The algorithm then
                   uses the learned policy to generate directions that
                   imitate the style of the descriptions provided by
                   humans, thus taking into account personal as well
                   as cultural preferences and special requirements of
                   the particular user group providing the learning
                   demonstrations. We evaluate our approach in a user
                   study and show that the directions generated by our
                   policy sound similar to human-given directions and
                   substantially more natural than directions provided
                   by commercial web services.}
}
@article{wurm14ras,
  author = {Kai M. Wurm and Henrik Kretzschmar and Rainer K{\"u}mmerle and Cyrill Stachniss and Wolfram Burgard},
  title = {Identifying Vegetation from Laser Data in Structured Outdoor Environments},
  journal = {Robotics and Autonomous Systems},
  volume = {62},
  pages = {675--684},
  year = 2014,
  doi = {10.1016/j.robot.2012.10.003},
  url = {http://www.sciencedirect.com/science/article/pii/S0921889012001868},
  issue = {5}
}
@inproceedings{ilg14icra,
  author = {Ilg, E. and K{\"u}mmerle, R. and Burgard, W. and Brox, T.},
  title = {Reconstruction of Rigid Body Models from Motion Distorted Laser Range Data Using Optical Flow},
  booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics and Automation (ICRA)},
  year = 2014,
  doi = {10.1109/ICRA.2014.6907535},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/ilg14icra.pdf},
  address = {Hong Kong, China},
  abstract = {The setup of tilting a 2D laser range finder up
                   and down is a widespread strategy to acquire 3D
                   point clouds.  This setup requires that the scene
                   is static while the robot takes a 3D scan.  If an
                   object moves through the scene during the
                   measurement process and one does not take into
                   account these movements, the resulting model will
                   get distorted.  This paper presents an approach to
                   reconstruct the 3D model of a moving rigid object
                   from the inconsistent set of 2D measurements by the
                   help of a camera.  Our approach utilizes optical
                   flow in the camera images to estimate the motion in
                   the image plane and point-line constraints to
                   compensate the missing information about the motion
                   in depth.  We combine multiple sweeps and/or views
                   into to a single consistent model using a point-to-
                   plane ICP approach and optimize single sweeps by
                   smoothing the resulting trajectory.  Experiments
                   obtained in real outdoor scenarios with moving cars
                   demonstrate that our approach yields accurate
                   models.}
}
@inproceedings{mazuran14rss,
  author = {Mladen Mazuran and Gian Diego Tipaldi and Luciano Spinello and Wolfram Burgard},
  title = {Nonlinear Graph Sparsification for SLAM},
  booktitle = {Proc.~of Robotics: Science and Systems (RSS)},
  year = 2014,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/mazuran14rss.pdf},
  address = {Berkeley}
}
@inproceedings{mazuran14icra,
  author = {Mladen Mazuran and Gian Diego Tipaldi and Luciano Spinello and Wolfram Burgard and Cyrill Stachniss},
  title = {A Statistical Measure for Map Consistency in SLAM},
  booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
  year = 2014,
  doi = {10.1109/ICRA.2014.6907387},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/mazuran14icra1.pdf},
  address = {Hong Kong}
}
@inproceedings{meyer14icra,
  author = {J. Meyer and M. Kuderer and J. M{\"u}ller and W. Burgard},
  title = {Online Marker Labeling for Fully Automatic Skeleton Tracking in Optical Motion Caputure},
  booktitle = {Proc.~of the IEEE International Conference on Robotics and Automation (ICRA)},
  year = 2014,
  doi = {10.1109/ICRA.2014.6907690},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/meyer14icra.pdf}
}
@article{frank14ras,
  author = {B. Frank and C. Stachniss and R. Schmedding and M. Teschner and W. Burgard},
  title = {Learning object deformation models for robot motion planning},
  journal = {Robotics and Autonomous Systems},
  volume = {62},
  number = {8},
  pages = {1153--1174},
  year = 2014,
  month = apr,
  doi = {10.1016/j.robot.2014.04.005},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/frank14ras.pdf}
}
@inproceedings{naseer14aaai,
  author = {T. Naseer and L. Spinello and W. Burgard and C. Stachniss},
  title = {Robust Visual Robot Localization Across Seasons using Network Flows},
  booktitle = {Proc.~of the Conf.~of the  Association for the Advancement of Artificial Intelligence (AAAI)},
  year = 2014,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/naseer14aaai.pdf},
  note = {In press},
  address = {Quebec, Canada}
}
@inproceedings{abdo14icra,
  author = {N. Abdo and L. Spinello and W. Burgard and C. Stachniss},
  title = {Inferring What to Imitate in Manipulation Actions by Using a Recommender System},
  booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
  year = 2014,
  doi = {10.1109/ICRA.2014.6907006},
  address = {Hong Kong, China}
}
@inproceedings{ito14icra,
  author = {S. Ito and F. Endres and M. Kuderer and G.D. Tipaldi and C. Stachniss and W. Burgard},
  title = {W-RGB-D: Floor-Plan-Based Indoor Global Localization Using a Depth Camera and WiFi},
  booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
  year = 2014,
  doi = {10.1109/ICRA.2014.6906890},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/ito14icra.pdf},
  address = {Hong Kong, China}
}
@inproceedings{suger14icra,
  author = {Benjamin Suger and Gian D. Tipaldi and  Luciano Spinello and W. Burgard},
  title = {An Approach to Solving Large-Scale SLAM Problems with a Small Memory Footprint},
  booktitle = {Proc.~of the IEEE International Conference on Robotics and Automation (ICRA)},
  year = 2014,
  doi = {10.1109/ICRA.2014.6907384},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/suger14icra.pdf}
}
@mastersthesis{ruchti13msc,
  author = {Philipp Ruchti},
  title = {Learning Reactive Robot Navigation Policies from Predictive Trajectory Planning},
  school = {University of Freiburg, Department of Computer Science, Autonomous Intelligent Systems Group},
  year = 2013,
  url = {http://www.informatik.uni-freiburg.de/~ruchtip/images/Master_thesis_ruchti.pdf},
  address = {Freiburg}
}
@article{olson2013ijrr,
  author = {Edwin Olson and Pratik Agarwal},
  title = {Inference on networks of mixtures for robust robot mapping},
  journal = {International Journal of Robotics Research},
  volume = {32},
  number = {7},
  pages = {826--840},
  year = 2013,
  month = jul,
  doi = {http://ijr.sagepub.com/content/32/7/826.abstract?etocv},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/agarwal2013ijrr.pdf}
}
@inproceedings{endres13icra-ws,
  author = {F. Endres and J. Trinkle and W. Burgard},
  title = {Interactive Perception for Learning the Dynamics of Articulated Objects},
  booktitle = {Proceedings of the ICRA 2013 Mobile Manipulation Workshop on Interactive Perception},
  year = 2013,
  month = may,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/endres13icra-ws.pdf},
  address = {Karlsruhe, Germany}
}
@inproceedings{agarwal13icra,
  author = {Pratik Agarwal and Gian Diego Tipaldi and Luciano Spinello and Cyrill Stachniss and Wolfram Burgard},
  title = {Robust Map Optimization using Dynamic Covariance Scaling},
  booktitle = {Proceedings of the {IEEE} International Conference on Robotics and Automation ({ICRA})},
  year = 2013,
  month = may,
  doi = {10.1109/ICRA.2013.6630557},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/agarwalicra13_DCS.pdf},
  keyword = {SLAM, Robust optimization},
  address = {Karlsruhe, Germany}
}
@inproceedings{agarwal13icraws,
  author = {Pratik Agarwal and Gian Diego Tipaldi and Luciano Spinello and Cyrill Stachniss and Wolfram Burgard},
  title = {Dynamic Covariance Scaling for Robust Robotic Mapping},
  booktitle = {Workshop on robust and Multimodal Inference in Factor Graphs, {ICRA}},
  year = 2013,
  month = may,
  doi = {10.1109/ICRA.2013.6630557},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/agarwal13_icra_ws.pdf},
  keyword = {SLAM, Robust optimization},
  address = {Karlsruhe, Germany}
}
@inproceedings{endres13iros,
  author = {F. Endres and J. Trinkle and W. Burgard},
  title = {Learning the Dynamics of Doors for Robotic Manipulation},
  booktitle = {Proc.~of the IEEE/RSJ Int.~Conf.~on Intelligent Robots and Systems (IROS)},
  year = 2013,
  month = nov,
  doi = {10.1109/IROS.2013.6696861},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/endres13iros.pdf},
  address = {Tokyo, Japan}
}
@inproceedings{beinhofer13iros,
  author = {Maximilian Beinhofer and J{\"o}rg M{\"u}ller and Andreas Krause and Wolfram Burgard},
  title = {Robust Landmark Selection for Mobile Robot Navigation},
  booktitle = {Proc.~of the IEEE Int. Conf. on Intelligent Robots and Systems (IROS)},
  year = 2013,
  month = nov,
  doi = {10.1109/IROS.2013.6696728},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/beinhofer13iros.pdf},
  address = {Tokyo, Japan}
}
@inproceedings{hess13icra,
  author = {J{\"u}rgen Hess and Maximilian Beinhofer and Daniel Kuhner and Philipp Ruchti and Wolfram Burgard},
  title = {Poisson-Driven Dirt Maps for Efficient Robot Cleaning},
  booktitle = {Proc.~of the IEEE Int. Conf. on Robotics \& Automation (ICRA)},
  pages = {2245--2250},
  year = 2013,
  month = may,
  doi = {10.1109/ICRA.2013.6630880},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/hess13icra.pdf},
  abstract = {Being able to estimate the dirt distribution in an
                   environment makes it possible to compute efficient
                   paths for robotic cleaners. In this paper, we
                   present a novel approach for modeling and
                   estimating the dynamics of the generation of dirt
                   in an environment. Our model uses cell-wise Poisson
                   processes on a regular grid to estimate the
                   distribution of dirt in the environment. It allows
                   for an effective estimation of the dynamics of the
                   generation of dirt and for making predictions about
                   the absolute dirt values. We propose two efficient
                   cleaning policies that are based on the estimated
                   dirt distributions and can easily be adapted to
                   different needs of potential users. Through
                   extensive experiments carried out with a modified
                   iRobot Roomba vacuum cleaning robot and in
                   simulation we demonstrate the effectiveness of our
                   approach.},
  issn = {2153-0858},
  address = {Karlsruhe, Germany}
}
@inproceedings{beinhofer13icra,
  author = {Maximilian Beinhofer and Henrik Kretzschmar and Wolfram Burgard},
  title = {Deploying Artificial Landmarks to Foster Data Association in Simultaneous Localization and Mapping},
  booktitle = {Proc.~of the IEEE Int. Conf. on Robotics \& Automation (ICRA)},
  year = 2013,
  month = may,
  doi = {10.1109/ICRA.2013.6631325},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/beinhofer13icra.pdf},
  address = {Karlsruhe, Germany}
}
@article{beinhofer13ras,
  author = {Maximilian Beinhofer and J{\"o}rg M{\"u}ller and Wolfram Burgard},
  title = {Effective Landmark Placement for Accurate and Reliable Mobile Robot Navigation},
  journal = {Robotics and Autonomous Systems (RAS)},
  volume = {61},
  number = {10},
  pages = {1060--1069},
  year = 2013,
  doi = {10.1016/j.robot.2012.08.009},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/beinhofer13ras.pdf},
  issn = {0921-8890}
}
@inproceedings{kuderer13iros,
  author = {Markus Kuderer and Henrik Kretzschmar and Wolfram Burgard},
  title = {Teaching Mobile Robots to Cooperatively Navigate in Populated Environments},
  booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year = 2013,
  doi = {10.1109/IROS.2013.6696802},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/kuderer13iros.pdf},
  address = {Tokyo, Japan}
}
@inproceedings{kretzschmar13rldm,
  author = {Henrik Kretzschmar and Markus Kuderer and Wolfram Burgard},
  title = {Predicting Human Navigation Behavior via Inverse Reinforcement Learning},
  booktitle = {The 1st Multidisciplinary Conference on Reinforcement Learning and Decision Making (RLDM)},
  year = 2013,
  address = {Princeton, NJ, USA}
}
@inproceedings{kretzschmar13rss-ws,
  author = {Henrik Kretzschmar and Markus Kuderer and Wolfram Burgard},
  title = {Learning Navigation Policies from Human Demonstrations},
  booktitle = {Proc.~of the Workshop on Inverse Optimal Control \& Robotic Learning from Demonstration at Robotics: Science and Systems (RSS)},
  year = 2013,
  address = {Berlin, Germany}
}
@inproceedings{kretzschmar13alw,
  author = {Henrik Kretzschmar and Markus Kuderer and Wolfram Burgard},
  title = {Inferring Navigation Policies for Mobile Robots from Demonstrations},
  booktitle = {Proc.~of the Autonomous Learning Workshop at the IEEE International Conference on Robotics and Automation (ICRA)},
  year = 2013,
  address = {Karlsruhe, Germany}
}
@inproceedings{abdo13icra,
  author = {Nichola Abdo and Henrik Kretzschmar and Luciano Spinello and Cyrill Stachniss},
  title = {Learning Manipulation Actions from a Few Demonstrations},
  booktitle = {Proc.~of the IEEE International Conference on Robotics and Automation (ICRA)},
  year = 2013,
  doi = {10.1109/ICRA.2013.6630734},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/abdo13icra.pdf},
  address = {Karlsruhe, Germany}
}
@inproceedings{kuemmerle13icra,
  author = {K{\"u}mmerle, R and Ruhnke, M. and Steder, B. and  Stachniss, C. and Burgard, W.},
  title = {A Navigation System for Robots Operating in Crowded Urban Environments},
  booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics and Automation (ICRA)},
  year = 2013,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/kuemmerle13icra.pdf},
  address = {Karlsruhe, Germany},
  abstract = {Over the past years, there has been a tremendous
                   progress in the area of robot navigation. Most of
                   the systems developed thus far, however, are
                   restricted to indoor scenarios, non-urban outdoor
                   environments, or road usage with cars. Urban areas
                   introduce numerous challenges to autonomous mobile
                   robots as they are highly complex and in addition
                   to that dynamic. In this paper, we present a
                   navigation system for pedestrian-like autonomous
                   navigation with mobile robots in city environments.
                   We describe different components including a SLAM
                   system for dealing with huge maps of city centers,
                   a planning approach for inferring feasible paths
                   taking also into account the traversability and
                   type of terrain, and a method for accurate
                   localization in dynamic environments. The
                   navigation system has been implemented and tested
                   in several large-scale field tests in which the
                   robot Obelix managed to autonomously navigate from
                   our university campus over a 3.3 km long route to
                   the city center of Freiburg.}
}
@phdthesis{kuemmerle13phd,
  author = {Rainer K{\"u}mmerle},
  title = {State Estimation and Optimization for Mobile Robot Navigation},
  school = {Albert-Ludwigs-University of Freiburg, Department of Computer Science},
  year = 2013,
  month = apr,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/kuemmerle-dissertation.pdf},
  downloads = {http://www.freidok.uni-freiburg.de/volltexte/8967/_FreiDok},
  downloads = {http://www.freidok.uni-freiburg.de/volltexte/8967/_FreiDok},
  abstract = {Robust autonomous navigation is a key feature of a
                   mobile robot realizing services such as
                   transportation, cleaning, search and rescue, and
                   surveillance. In addition to that, navigation is a
                   building block for a robot assisting humans in
                   potentially dangerous situations, such as search-
                   and-rescue scenarios. Hence, navigation is one of
                   the major research topics in the robotics
                   community. To realize the above mentioned
                   applications, we need to fulfill certain
                   requirements, so that a robot is regarded as
                   useful. For example, a robot which performs pick-
                   and-place tasks or offers guidance in city centers
                   needs to be aware of its own position in the
                   environment and it needs to have an accurate model
                   of the environment for planning an appropriate
                   path. A robot which should guide a human to a
                   certain place or has to deliver goods is only
                   regarded as helping hand, if the location is
                   reliably reached within the expected time frame.
                   Particularly, estimating the state which describes
                   the current situation of the navigation system is
                   complex. In this thesis, we focus on efficient and
                   accurate state estimation techniques which apply
                   probabilistic algorithms. An example for such a
                   state estimation task is the Simultaneous
                   Localization and Mapping (SLAM) problem, in which a
                   robot has to address both aspects. First, it needs
                   to estimate what the environment looks like. This
                   is the mapping part which deals with integrating
                   the information obtained by the sensors of the
                   robot into an appropriate representation. Second,
                   the localization component has to estimate the
                   position of the robot with respect to the model of
                   the environment. In the first part of this thesis,
                   we present efficient approaches to estimate the
                   state of the robot while performing SLAM. Our
                   approach allows a robot to accurately estimate the
                   model of the environment in an online setting and
                   also in situations when provided with a poor
                   initial guess. Additionally, we provide an
                   empirical evaluation which demonstrates the
                   advantages of our approach compared to other state-
                   of-the-art methods. Subsequently, we extend our
                   state estimation approach to also include the
                   unknown calibration parameters, which might change
                   during the lifetime of the robot, to incorporate
                   prior information about the structure of the
                   environment, and to improve the fine-grained
                   details of the estimated models. In the second part
                   of this thesis, we demonstrate two challenging
                   applications which we realized by building upon and
                   extending the algorithms presented in the first
                   part. In detail, we discuss an approach which
                   allows a car to autonomously park in a complex
                   multi-level parking garage. As second application
                   we present a robotic pedestrian assistant which is
                   able to navigate in densely populated pedestrian
                   zones. All techniques presented in this thesis have
                   been implemented and tested using both real-world
                   data collected with mobile robots and simulated
                   data. To support our claims, we performed an
                   extensive collection of experiments, in which we
                   compared the performance of our approaches with the
                   state-of-the- art. We believe that the proposed
                   approaches will allow us in the future to build
                   systems that can assist humans in their homes and
                   at their workplaces.}
}
@article{hoeflinger13tim,
  author = {H\"{o}flinger, F. and M\"{u}ller, J. and Zhang, R. and Burgard, W. and Reindl, L.M.},
  title = {A Wireless Micro Inertial Measurement Unit ({IMU})},
  journal = {IEEE Transactions on Instrumentation \& Measurement},
  year = 2013,
  doi = {10.1109/TIM.2013.2255977},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/hoeflinger13tim.pdf}
}
@inproceedings{riefert13vts,
  author = {Riefert, A. and M\"{u}ller, J. and Sauer, M. and Burgard, W. and Becker, B.},
  title = {Identification of Critical Variables using an {FPGA}-based Fault Injection Framework},
  booktitle = {Proceedings of the IEEE VLSI Test Symposium (VTS)},
  year = 2013,
  month = apr,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/riefert13vts.pdf},
  address = {Berkeley, CA, USA}
}
@article{mueller13ar,
  author = {M\"{u}ller, J. and Burgard, W.},
  title = {Efficient Probabilistic Localization for Autonomous Indoor Airships using Sonar, Air Flow, and {IMU} Sensors},
  journal = {Advanced Robotics},
  volume = {27},
  number = {9},
  pages = {711--724},
  year = 2013,
  doi = {10.1080/01691864.2013.779005},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/mueller13ar.pdf}
}
@inproceedings{riefert13tuz,
  author = {Riefert, A. and M\"{u}ller, J. and Sauer, M. and Burgard, W. and Becker, B.},
  title = {Identification of Critical Variables using an {FPGA}-based Fault Injection Framework},
  booktitle = {Proceedings of the Workshop Testmethoden und Zuverlässigkeit von Schaltungen und Systemen (TUZ)},
  year = 2013,
  month = feb,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/riefert13tuz.pdf},
  address = {Dresden, Germany}
}
@inproceedings{meyer13icraws,
  author = {Meyer, J. and Kuderer, M. and M\"{u}ller, J. and Burgard, W.},
  title = {Online Marker Labeling for Automatic Skeleton Tracking in Optical Motion Capture},
  booktitle = {Proceedings of the ICRA Workshop on Computational Techniques in Natural Motion Analysis and Reconstruction},
  year = 2013,
  month = may,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/meyer13icraws.pdf},
  address = {Karlsruhe, Germany}
}
@techreport{sittel13regression,
  author = {Sittel, F. and M\"{u}ller, J. and Burgard, W.},
  title = {Computing Velocities and Accelerations from a Pose Time Sequence in Three-dimensional Space},
  number = {272},
  year = 2013,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/sittel13tr.pdf},
  institution = {University of Freiburg, Department of Computer
                   Science}
}
@phdthesis{mueller13phd,
  author = {J\"{o}rg M\"{u}ller},
  title = {Autonomous Navigation for Miniature Indoor Airships},
  school = {Albert-Ludwigs-University of Freiburg, Department of Computer Science},
  year = 2013,
  month = jun,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/mueller13phd.pdf}
}
@inproceedings{roewekaemper13iros,
  author = {J. Roewekaemper and G.D. Tipaldi and W. Burgard},
  title = {Learning to Guide Random Tree Planners in High Dimensional Spaces},
  booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year = 2013,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/roewekaemper13iros.pdf},
  address = {Tokyo Big Sight, Japan}
}
@inproceedings{ruhnke13aaai,
  author = {Ruhnke, M. and Bo, L. and Fox, D. and Burgard, W.},
  title = {Compact {RGBD} Surface Models Based on Sparse Coding},
  booktitle = {Proc.~of the National Conference on Artificial Intelligence (AAAI)},
  year = 2013,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/ruhnke13aaai.pdf}
}
@article{lau13ras,
  author = {B. Lau and C. Sprunk and W. Burgard},
  title = {Efficient grid-based spatial representations for robot navigation in dynamic environments},
  journal = {Robotics and Autonomous Systems},
  volume = {61},
  number = {10},
  pages = {1116--1130},
  year = 2013,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/lau13ras.pdf}
}
@inproceedings{sprunk13iros,
  author = {C. Sprunk and G.D. Tipaldi and A. Cherubini and W. Burgard},
  title = {Lidar-based Teach-and-Repeat of Mobile Robot Trajectories},
  booktitle = {Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS)},
  year = 2013,
  month = nov,
  doi = {10.1109/IROS.2013.6696803},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/sprunk13iros.pdf},
  address = {Tokyo, Japan}
}
@inproceedings{dakulovic13iros,
  author = {M. Dakulovic and C. Sprunk and L. Spinello and I. Petrovic and W. Burgard},
  title = {Efficient Navigation for  Anyshape Holonomic Mobile Robots in Dynamic Environments},
  booktitle = {Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS)},
  year = 2013,
  month = nov,
  doi = {10.1109/IROS.2013.6696729},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/dakulovic13iros.pdf},
  address = {Tokyo, Japan}
}
@inproceedings{bogoslavskyi13ecmr,
  author = {I. Bogoslavskyi and O. Vysotska and J. Serafin and G. Grisetti and C. Stachniss},
  title = {Efficient Traversability Analysis for Mobile Robots using the Kinect Sensor},
  booktitle = {Proc.~of the European Conference on Mobile Robots (ECMR)},
  year = 2013,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/bogoslavskyi13ecmr.pdf},
  address = {Barcelona, Spain}
}
@article{burgard13forschung,
  author = {W. Burgard and  C. Stachniss},
  title = {Gestatten, Obelix!},
  journal = {Forschung -- Das Magazin der Deutschen Forschungsgemeinschaft},
  volume = {1},
  year = 2013,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/forschung_2013_01-pg4-9.pdf},
  note = {In German, invited}
}
@article{hornung13auro,
  author = {A. Hornung and K.M. Wurm and M. Bennewitz  and  C. Stachniss and W. Burgard},
  title = {{OctoMap}: An Efficient Probabilistic 3D Mapping Framework Based on Octrees},
  journal = {Autonomous Robots},
  volume = {34},
  pages = {189--206},
  year = 2013,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/hornung13auro.pdf},
  issue = {3}
}
@article{maier13ijhr,
  author = {D. Maier and C. Stachniss and M. Bennewitz},
  title = {Vision-Based Humanoid Navigation Using Self- Supervised Obstacle Detection},
  journal = {The Int.~Journal of Humanoid Robotics (IJHR)},
  volume = {10},
  year = 2013,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/maier13ijhr.pdf},
  issue = {2}
}
@article{wurm13auro,
  author = {K.M. Wurm and C. Dornhege and B. Nebel and W. Burgard and  C. Stachniss},
  title = {Coordinating Heterogeneous Teams of Robots using Temporal Symbolic Planning},
  journal = {Autonomous Robots},
  volume = {34},
  year = 2013,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/wurm13auro.pdf},
  issue = {4}
}
@phdthesis{steder13phd,
  author = {Bastian Steder},
  title = {Feature-Based 3D Perception for Mobile Robots},
  school = {Albert-Ludwigs-University of Freiburg, Department of Computer Science},
  year = 2013,
  month = apr,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/steder13phd.pdf},
  abstract = {Perception is one of the key topics in robotics
                   research. It is about the processing of external
                   sensor data and its interpretation. Strong
                   perceptual abilities are a basic requirement for a
                   robot working in an environment that was not
                   specifically designed for the robot. Such a
                   surrounding might be completely unknown or may
                   change over time, so that a model cannot be
                   provided to the robot a priori. Most people would
                   only judge a robot to be truly intelligent if it
                   perceives its environment, understands what is
                   happening around it and acts accordingly. This is
                   especially important in mobile robotics. A robot
                   that moves through an environment and interacts
                   with it has to know what is going on around it,
                   where it is, where it can go, and where objects
                   necessary for its task are located. The topic of
                   this thesis is the interpretation of low-level
                   sensor information and its application in high-
                   level tasks, specifically in the area of mobile
                   robotics. We mainly focus on 3D perception, meaning
                   the analysis and interpretation of 3D range scans.
                   This kind of data provides accurate spatial
                   information and is typically not dependent on the
                   light conditions. Spatial information is especially
                   important for navigation tasks, which, by nature,
                   are elementary for mobile platforms. To solve
                   different problems, we extract features from the
                   sensor data, which can then be used efficiently to
                   solve the task at hand. The term “feature” is
                   very broad in this context and means that some
                   useful information is derived from raw data, which
                   is easier to interpret than the original input. At
                   first, we discuss the benefits of point feature
                   extraction from 3D range scans, meaning the
                   detection of interesting areas and an efficient
                   description of the local data. Such point features
                   are typically employed for similarity measures
                   between chunks of data. We present an approach for
                   point feature extraction and then build on it to
                   create several systems that tackle highly relevant
                   topics of modern robotics. These include the
                   detection of known objects in a 3D scan, the
                   unsupervised creation of object models from a
                   collection of scans, the representation of an
                   environment with a small number of surface
                   primitives, and the ability to find the current
                   position of a robot based on a single 3D scan and a
                   database of already known places. All these
                   problems require an algorithm that detects similar
                   structures in homogeneous sensor data, i.e., to
                   find corresponding areas between 3D range scans. In
                   addition to this, we discuss a system where finding
                   correspondences between heterogeneous data types is
                   relevant. Specifically, we search for corresponding
                   areas in 3D range data and visual images, to
                   determine the position of a robot in an aerial
                   image. Finally, we present a complete robotic
                   system, designed to navigate as a pedestrian in an
                   urban environment. Such a system is built up from a
                   multitude of different modules, whereas high
                   robustness requirements apply to each of them to
                   ensure the reliability of the entire system. Our
                   core contribution to this system is a module that
                   analyzes the low-level sensor data and provides
                   high-level information to the other modules,
                   specifically, it performs a traversability analysis
                   and obstacle detection in 2D and 3D laser data. We
                   present several innovative algorithms and
                   techniques that advance the state of the art. We
                   use them to build systems that enable us to address
                   complex 3D perception problems, outperforming
                   existing approaches. We evaluate our methods in
                   challenging settings, focusing on realistic
                   applications and using real world data.}
}
@inproceedings{ahmad13icra,
  author = {Aamir Ahmad and Gian Diego Tipaldi and Pedro Lima and Wolfram Burgard},
  title = {Cooperative Robot Localization and Target Tracking based on Least Square Minimization},
  booktitle = {Proceedings of the {IEEE} International Conference on Robotics and Automation ({ICRA})},
  year = 2013,
  doi = {10.1109/ICRA.2013.6631396},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/ahmad13icra.pdf}
}
@inproceedings{tipaldi13icra,
  author = {Tipaldi, Gian Diego and Spinello, Luciano and Burgard, Wolfram},
  title = {Geometrical FLIRT Phrases for Large Scale Place Recognition in 2D Range Data},
  booktitle = {Proceedings of the {IEEE} International Conference on Robotics and Automation ({ICRA})},
  year = 2013,
  doi = {10.1109/ICRA.2013.6630947},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/tipaldi13icra.pdf}
}
@article{tipaldi13ijrr,
  author = {Tipaldi, G. D. and Meyer-Delius, D. and Burgard, W.},
  title = {Lifelong localization in changing environments},
  journal = {International Journal of Robotics Research},
  volume = {32},
  number = {14},
  year = 2013,
  month = dec,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/tipaldi13ijrr.pdf}
}
@inproceedings{meyerdelius12aaai,
  author = {Meyer-Delius, D. and Beinhofer, M. and Burgard, W.},
  title = {Occupancy Grid Models for Robot Mapping in Changing Environments},
  booktitle = {Proc.~of the AAAI~Conf.~on Artificial Intelligence (AAAI)},
  year = 2012,
  month = jul,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/meyerdelius12aaai.pdf},
  address = {Toronto, Canada}
}
@incollection{grundmann12book,
  author = {Grundmann, Thilo and Fiegert, Michael and Burgard, Wolfram},
  title = {Rule Set Based Joint State Update},
  booktitle = {Towards Service Robots for Everyday Environments},
  pages = {301--326},
  year = 2012,
  publisher = {Springer}
}
@article{grzonka12tro_mvn,
  author = {Grzonka, S. and Karwath, A. and Dijoux, F. and Burgard, W.},
  title = {Activity-based Indoor Mapping and Estimation of Human Trajectories},
  journal = {IEEE Transactions on Robotics (T-RO)},
  volume = {8},
  number = {1},
  pages = {234--245},
  year = 2012,
  month = mar,
  doi = {10.1109/TRO.2011.2165372},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/grzonka12tro_mvn.pdf}
}
@article{grzonka12tro_quad,
  author = {Grzonka, S. and Grisetti, G. and Burgard, W.},
  title = {A Fully Autonomous Indoor Quadrotor},
  journal = {IEEE Transactions on Robotics (T-RO)},
  volume = {8},
  number = {1},
  pages = {90--100},
  year = 2012,
  month = mar,
  doi = {10.1109/TRO.2011.2162999},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/grzonka12tro_quad.pdf}
}
@inproceedings{hess12iros,
  author = {J. Hess and D. Tipaldi and W. Burgard},
  title = {Null Space Optimization for Effective Coverage of 3D Surfaces using Redundant Manipulators},
  booktitle = {Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages = {1923--1928},
  year = 2012,
  doi = {10.1109/IROS.2012.6385960},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/hess12iros.pdf},
  abstract = {In this paper we consider the problem of null
                   space minimization in coverage path planning of 3D
                   surfaces for redundant manipulators. Existing
                   coverage solutions only focus on Euclidean cost
                   functions and often return suboptimal paths with
                   respect to the joint space. In the approach
                   described here, we explicitly consider the null
                   space by treating different inverse kinematics
                   solutions as individual nodes in a graph and model
                   the problem as a generalized traveling salesman
                   problem (GTSP). The GTSP is a generalization of the
                   TSP where the nodes of the graph are subdivided
                   into clusters and at least one node in each cluster
                   needs to be visited. We evaluate our approach using
                   a PR2 robot and complex objects. Our results
                   demonstrate that our method outperforms Euclidean
                   coverage algorithms in terms of manipulation effort
                   and completion time.},
  issn = {2153-0858},
  address = {Villamoura, Portugal}
}
@inproceedings{joho12rss,
  author = {Dominik Joho and Gian Diego Tipaldi and Nikolas Engelhard and Cyrill Stachniss and Wolfram Burgard},
  title = {Nonparametric {B}ayesian Models for Unsupervised Scene Analysis and Reconstruction},
  booktitle = {Proc. of Robotics: Science and Systems {(RSS)}},
  year = 2012,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/joho12rss.pdf},
  address = {Sydney, Australia}
}
@inproceedings{joho12rssws,
  author = {Dominik Joho and Gian Diego Tipaldi and Nikolas Engelhard and Cyrill Stachniss and Wolfram Burgard},
  title = {Unsupervised Scene Analysis and Reconstruction Using Nonparametric {B}ayesian Models},
  booktitle = {Proc. of the Workshop on Robots in Clutter at Robotics: Science and Systems {(RSS)}},
  year = 2012,
  address = {Sydney, Australia}
}
@article{kretzschmar12ijrr,
  author = {Henrik Kretzschmar and Cyrill Stachniss},
  title = {Information-Theoretic Compression of Pose Graphs for Laser-Based SLAM},
  journal = {The International Journal of Robotics Research (IJRR)},
  volume = {31},
  pages = {1219--1230},
  year = 2012,
  doi = {10.1177/0278364912455072},
  url = {http://ijr.sagepub.com/content/31/11/1219},
  issue = {11}
}
@inproceedings{kuderer12rss,
  author = {Markus Kuderer and Henrik Kretzschmar and Christoph Sprunk and Wolfram Burgard},
  title = {Feature-Based Prediction of Trajectories for Socially Compliant Navigation},
  booktitle = {Proc.~of Robotics: Science and Systems (RSS)},
  year = 2012,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/kuderer12rss.pdf},
  address = {Sydney, Australia}
}
@inproceedings{abdo12tampra,
  author = {Nichola Abdo and Henrik Kretzschmar and Cyrill Stachniss},
  title = {From Low-Level Trajectory Demonstrations to Symbolic Actions for Planning},
  booktitle = {Proc.~of the ICAPS Workshop on Combining Task and Motion Planning for Real-World Applications (TAMPRA)},
  year = 2012,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/abdo12tampra.pdf},
  address = {Atibaia, S\~{a}o Paulo, Brazil}
}
@article{wurm13ras,
  author = {Wurm, K. M. and Kretzschmar, H. and K{\"u}mmerle, R. and Stachniss, C. and Burgard, W.},
  title = {Identifying Vegetation from Laser Data in Structured Outdoor Environments},
  journal = {Robotics and Autonomous Systems},
  volume = {},
  number = {},
  pages = {-},
  year = 2012,
  doi = {10.1016/j.robot.2012.10.003},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/wurm13ras.pdf},
  issn = {0921-8890},
  note = {In Press}
}
@article{kuemmerle12ar,
  author = {K{\"u}mmerle, R. and Grisetti, G. and Burgard, W.},
  title = {Simultaneous Parameter Calibration, Localization, and Mapping},
  journal = {Advanced Robotics},
  volume = {26},
  number = {17},
  pages = {2021--2041},
  year = 2012,
  doi = {10.1080/01691864.2012.728694},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/kuemmerle12ar.pdf},
  abstract = {The calibration parameters of a mobile robot play
                   a substantial role in navigation tasks. Often these
                   parameters are subject to variations that depend
                   either on changes in the environment or on the load
                   of the robot.  In this paper, we propose an
                   approach to simultaneously estimate a map of the
                   environment, the position of the on-board sensors
                   of the robot, and its kinematic parameters. Our
                   method requires no prior knowledge about the
                   environment and relies only on a rough initial
                   guess of the parameters of the platform. The
                   proposed approach estimates the parameters on-line
                   and it is able to adapt to non-stationary changes
                   of the configuration. We tested our approach in
                   simulated environments and on a wide range of real
                   world data using different types of robotic
                   platforms.}
}
@inproceedings{grisetti12iros,
  author = {Grisetti, G. and K{\"u}mmerle, R. and Ni, K.},
  title = {Robust Optimization of Factor Graphs by using Condensed Measurements},
  booktitle = {Proc. of the {IEEE/RSJ} Int. Conf. on Intelligent Robots and Systems (IROS)},
  year = 2012,
  month = oct,
  doi = {10.1109/IROS.2012.6385779},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/grisetti12iros.pdf},
  address = {Vilamoura, Portugal},
  abstract = {Popular problems in robotics and computer vision
                   like simultaneous localization and mapping (SLAM)
                   or structure from motion (SfM) require to solve a
                   least-squares problem that can be effectively
                   represented by factor graphs.  The chance to find
                   the global minimum of such problems depends on both
                   the initial guess and the non- linearity of the
                   sensor models. In this paper we propose an approach
                   to determine an approximation of the original
                   problem that has a larger convergence basin. To
                   this end, we employ a divide-and-conquer approach
                   that exploits the structure of the factor graph.
                   Our approach has been validated on real- world and
                   simulated experiments and is able to succeed in
                   finding the global minimum in situations where
                   other state-of-the-art methods fail.}
}
@inproceedings{sturm12iros,
  author = {J. Sturm and N. Engelhard and F. Endres and W. Burgard and D. Cremers},
  title = {A Benchmark for the Evaluation of {RGB-D SLAM} Systems},
  booktitle = {Proc. of the {IEEE/RSJ} Int. Conf. on Intelligent Robots and Systems (IROS)},
  year = 2012,
  month = oct,
  doi = {10.1109/IROS.2012.6385773},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/sturm12iros.pdf},
  address = {Vilamoura, Portugal}
}
@inproceedings{endres12robotik,
  author = {Felix Endres and Jürgen Hess and Wolfram Burgard},
  title = {Graph-Based Action Models for Human Motion Classification},
  booktitle = {ROBOTIK},
  year = 2012,
  month = may,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/endres12robotik.pdf}
}
@article{endres12at,
  author = {F. Endres and J. Hess and N. Engelhard and J. Sturm and W. Burgard},
  title = {6{D} Visual {SLAM} for {RGB-D} Sensors},
  journal = {at - Automatisierungstechnik},
  volume = {60},
  pages = {270--278},
  year = 2012,
  month = may,
  doi = {10.1524/auto.2012.0993},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/endres12at.pdf}
}
@inproceedings{endres12icra,
  author = {F. Endres and J. Hess and N. Engelhard and J. Sturm and D. Cremers and W. Burgard},
  title = {An Evaluation of the {RGB-D SLAM} System},
  booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics and Automation (ICRA)},
  year = 2012,
  month = may,
  doi = {10.1109/ICRA.2012.6225199},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/endres12icra.pdf},
  address = {St. Paul, Minnesota}
}
@inproceedings{ruhnke12icra,
  author = {Ruhnke, M. and K{\"u}mmerle, R. and Grisetti, G. and Burgard, W.},
  title = {Highly Accurate 3D Surface Models by Sparse Surface Adjustment},
  booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics and Automation (ICRA)},
  year = 2012,
  month = may,
  doi = {10.1109/ICRA.2012.6225077},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/ruhnke12icra.pdf},
  address = {St. Paul, MN, USA},
  abstract = {In this paper, we propose an approach to obtain
                   highly accurate 3D models from range data. The key
                   idea of our method is to jointly optimize the poses
                   of the sensor and the positions of the surface
                   points measured with a range scanning device. Our
                   approach applies a physical model of the underlying
                   range sensor. To solve the optimization task it
                   employs a state-of-the-art graph-based optimizer
                   and iteratively refines the structure of the error
                   function by recomputing the data associations after
                   each optimization.  We present our approach and
                   evaluate it on data recorded in different real
                   world environments with a RGBD camera and a laser
                   range scanner.  The experimental results
                   demonstrate that our method is able to
                   substantially improve the accuracy of SLAM results
                   and that it compares favorable over the moving
                   least squares method.}
}
@inproceedings{sprunk12icra,
  author = {C. Sprunk and B. Lau and W. Burgard},
  title = {Improved Non-linear Spline Fitting for Teaching Trajectories to Mobile Robots},
  booktitle = {Proc. of the IEEE International Conference on Robotics and Automation (ICRA)},
  pages = {2068--2073},
  year = 2012,
  month = may,
  doi = {10.1109/ICRA.2012.6224920},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/sprunk12icra.pdf},
  address = {St. Paul, MN, USA}
}
@incollection{arras12star,
  author = {Kai O. Arras and Boris Lau and Slawomir Grzonka and Matthias Luber and Oscar Martinez Mozos and Daniel Meyer-Delius and Wolfram Burgard},
  title = {Range-Based People Detection and Tracking for Socially Enabled Service Robots},
  booktitle = {Towards Service Robots for Everyday in Environments},
  volume = {76},
  pages = {235--280},
  year = 2012,
  publisher = {Springer},
  series = {Springer Tracts in Advanced Robotics (STAR)},
  editor = {Erwin Prassler and Rainer Bischoff and Wolfram
                   Burgard and Robert Haschke and Martin H\"{a}gele
                   and Gisbert Lawitzky and Bernhard Nebel and Paul
                   Pl\"{o}ger and Ulrich Reiser and Marius
                   Z\"{o}llner}
}
@inproceedings{mueller12icra,
  author = {M\"{u}ller, J. and Paul, O. and Burgard, W.},
  title = {Probabilistic Velocity Estimation for Autonomous Miniature Airships using Thermal Air Flow Sensors},
  booktitle = {Proceedings of the IEEE International Conference on Robotics \& Automation (ICRA)},
  pages = {39--44},
  year = 2012,
  month = may,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/mueller12icra.pdf},
  address = {Saint Paul, MN, USA}
}
@inproceedings{hoeflinger12i2mtc,
  author = {H\"{o}flinger, F. and M\"{u}ller, J. and T\"{o}rk, M. and Reindl, L.M. and Burgard, W.},
  title = {A Wireless Micro Inertial Measurement Unit ({IMU})},
  booktitle = {Proceedings of the IEEE International Instrumentation and Measurement Technology Conference (I2MTC)},
  pages = {2578--2583},
  year = 2012,
  month = may,
  doi = {10.1109/I2MTC.2012.6229271},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/hoeflinger12i2mtc.pdf},
  address = {Graz, Austria}
}
@inproceedings{wendeberg12ipin,
  author = {Wendeberg, J. and M\"{u}ller, J. and Schindelhauer, C. and Burgard, W.},
  title = {Robust Tracking of a Mobile Beacon using Time Differences of Arrival with Simultaneous Calibration of Receiver Positions},
  booktitle = {Proceedings of the International Conference on Indoor Positioning and Indoor Navigation (IPIN)},
  year = 2012,
  month = nov,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/wendeberg12ipin.pdf},
  address = {Sydney, Australia}
}
@inproceedings{demeester12icscs,
  author = {E. Demeester and E. Vander Poorten and A. Hüntemann and J. De Schutter and M. Hofmann and M. Rooker and G. Kronreif and B. Lau and M. Kuderer and W. Burgard and A . Gelin, K. Vanopdenbosch and P. Van der Beeten and M. Vereecken and S. Ilsbroukx and A. Fossati and G. Roig and X. Boix and L. Van Gool and H. Fraeyman and L. Broucke and H. Goessaert and J. Josten},
  title = {Robotic ADaptation to Humans Adapting to Robots: Overview of the FP7 project RADHAR},
  booktitle = {International Conference on Systems and Computer Science (ICSCS)},
  year = 2012,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/demeester12icscs.pdf}
}
@inproceedings{roewekaemper12iros,
  author = {J. Roewekaemper and C. Sprunk and G.D. Tipaldi and  C. Stachniss and P. Pfaff and W. Burgard},
  title = {On the Position Accuracy of Mobile Robot Localization based on Particle Filters combined with Scan Matching},
  booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages = {3158--3164},
  year = 2012,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/roewekaemper12iros.pdf},
  address = {Villamoura, Portugal}
}
@article{stachniss12fnt,
  author = {C. Stachniss and W. Burgard},
  title = {Particle Filters for Robot Navigation},
  journal = {Foundations and Trends in Robotics},
  volume = {3},
  number = {4},
  pages = {211--282},
  year = 2012,
  doi = {10.1561/2300000013},
  note = {Published 2014}
}
@book{sc12proceedings,
  title = {Spatial Cognition VIII},
  year = 2012,
  month = aug,
  publisher = {Springer},
  editor = {C. Stachniss and K. Schill and D. Uttal}
}
@inproceedings{grisetti12rich,
  author = {G. Grisetti and  L. Iocchi and B. Leibe and V.A. Ziparo and C. Stachniss},
  title = {Digitization of Inaccessible Archeological Sites with Autonomous Mobile Robots},
  booktitle = {Conf.~on Robotics Innovation for Cultural Heritage},
  year = 2012,
  notes = {Extended abstract}
}
@inproceedings{spinello12rssws,
  author = {L. Spinello and C. Stachniss and W. Burgard},
  title = {Scene in the Loop: Towards Adaptation-by- Tracking in RGB-D Data},
  booktitle = {Proc.~of the RSS Workshop RGB-D: Advanced Reasoning with Depth Cameras},
  year = 2012,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/spinello12rssws.pdf}
}
@article{ruhnke12desire,
  author = {Ruhnke, M. and Steder, B. and Grisetti, G. and Burgard, W.},
  title = {{3D} Environment Modeling Based on Surface Primitives},
  journal = {Towards Service Robots for Everyday Environments},
  pages = {281--300},
  year = 2012,
  publisher = {Springer Berlin/Heidelberg},
  abstract = {In this chapter we describe an algorithm for
                   constructing a compact representation of 3D laser
                   range data. Our approach extracts a dictionary of
                   local scans from the scene. The words of this
                   dictionary are used to replace recurrent local 3D
                   structures, which leads to a substantial
                   compression of the entire point cloud.  We optimize
                   our model in terms of complexity and accuracy by
                   minimizing the Bayesian information criterion
                   (BIC). Experimental evaluations on large real-world
                   datasets show that the described method allows
                   robots to accurately reconstruct en- vironments
                   with as few as 70 words. Furthermore the
                   experiments suggest that the proposed
                   representation gives a richer semantic description
                   than pure occupancy based representations.}
}
@inproceedings{tipaldi12rssws,
  author = {Tipaldi, G. D. and Meyer-Delius, D. and Beinhofer, M. and Burgard, W.},
  title = {Lifelong Localization and Dynamic Map Estimation in Changing Environments},
  booktitle = {RSS Workshop on Robots in Clutter: Manipulation, Perception and Navigation in Human Environments},
  year = 2012
}
@phdthesis{wurm12phd,
  author = {Kai M.~Wurm},
  title = {Techniques for Multi-Robot Coordination and Navigation},
  school = {Albert-Ludwigs-University of Freiburg, Department of Computer Science},
  year = 2012,
  month = oct,
  url = {http://www.freidok.uni-freiburg.de/volltexte/8774}
}
@inproceedings{cunningham12icra,
  author = {A. Cunningham and K.M. Wurm and W. Burgard and F. Dellaert},
  title = {Fully Distributed Scalable Smoothing and Mapping with Robust Multi-robot Data Association},
  booktitle = {Proc.~of the IEEE/RSJ International Conference on Robotics \& Automation (ICRA)},
  year = 2012,
  doi = {10.1109/ICRA.2012.6225356},
  address = {Saint Paul, MN, USA}
}
@inproceedings{beinhofer11ecmr,
  author = {Beinhofer, M. and M{\"u}ller, J. and Burgard, W.},
  title = {Landmark Placement for Accurate Mobile Robot Navigation},
  booktitle = {Proc.~of the European~Conf.~on Mobile Robots (ECMR)},
  pages = {55--60},
  year = 2011,
  month = sep,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/beinhofer11ecmr.pdf},
  address = {{\"O}rebro, Sweden}
}
@inproceedings{tipaldi11irosWS,
  author = {Tipaldi, G. and Meyer-Delius, D. and Beinhofer, M. and Burgard, W.},
  title = {Simultaneous Localization and Dynamic State Estimation in Reconfigurable Environments},
  booktitle = {Proc.~of the IEEE/RSJ IROS Workshop on Metrics and Methodologies for Autonomous Robot Teams in Logistics (MMART-LoG)},
  year = 2011,
  month = oct,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/tipaldi11irosWS.pdf},
  address = {San Francisco, USA}
}
@techreport{meyerdelius11alufr,
  author = {Meyer-Delius, D. and Beinhofer, M. and Burgard, W.},
  title = {Grid-Based Models for Dynamic Environments},
  year = 2011,
  month = jul,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/report00265.pdf},
  institution = {Dept.~of Computer Science, University of
                   Freiburg}
}
@inproceedings{beinhofer11icra,
  author = {Beinhofer, M. and M{\"u}ller, J. and Burgard, W.},
  title = {Near-optimal Landmark Selection for Mobile Robot Navigation},
  booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics and Automation (ICRA)},
  pages = {4744--4749},
  year = 2011,
  month = may,
  doi = {10.1109/ICRA.2011.5979871},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/beinhofer11icra.pdf},
  address = {Shanghai, China}
}
@inproceedings{meyerdelius11icra,
  author = {Meyer-Delius, D. and Beinhofer, M. and Kleiner, A. and Burgard, W.},
  title = {Using Artificial Landmarks to Reduce the Ambiguity in the Environment of a Mobile Robot},
  booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics and Automation (ICRA)},
  pages = {5173--5178},
  year = 2011,
  month = may,
  doi = {10.1109/ICRA.2011.5980111},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/meyerdelius11icra.pdf},
  address = {Shanghai, China}
}
@phdthesis{grzonkaPhd,
  author = {Grzonka, Slawomir},
  title = {Mapping, State Estimation, and Navigation for Quadrotors and Human-Worn Sensor Systems},
  school = {Albert-Ludwigs-University of Freiburg},
  year = 2011,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/grzonkaPhd.pdf}
}
@inproceedings{grzonka11rssws,
  author = {Grzonka, S. and Steder, B. and Burgard, W.},
  title = {3D Place Recognition and Object Detection using a Small-sized Quadrotor},
  booktitle = {Workshop on 3D Exploration, Mapping, and Surveillance with Aerial Robots at Robotics: Science and Systems (RSS)},
  year = 2011,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/grzonka11rssws.pdf}
}
@article{bouabdallah10irs,
  author = {Bouabdallah, S. and Bermes, C. and Grzonka, S. and Gimkiewicz, C. and Brenzikofer, A. and Hahn, R. and Schafroth, D. and Grisetti, G. and Burgard, W. and Siegwart, R.},
  title = {Towards Palm-Size Autonomous Helicopters},
  journal = {Journal of Intelligent \& Robotic Systems},
  volume = {61},
  pages = {1--27},
  year = 2011,
  issue = {1-4}
}
@article{joho11ras,
  author = {Dominik Joho and Martin Senk and Wolfram Burgard},
  title = {Learning Search Heuristics for Finding Objects in Structured Environments},
  journal = {Robotics and Autonomous Systems},
  volume = {59},
  number = {5},
  pages = {319--328},
  year = 2011,
  month = may,
  doi = {10.1016/j.robot.2011.02.012},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/joho11ras.pdf},
  issn = {0921-8890}
}
@inproceedings{stachniss11isrr,
  author = {Cyrill Stachniss and Henrik Kretzschmar},
  title = {Pose Graph Compression for Laser-Based {SLAM}},
  booktitle = {Proc.~of the International Symposium of Robotics Research (ISRR)},
  year = 2011,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/stachniss11isrr.pdf},
  note = {Invited presentation.},
  address = {Flagstaff, AZ, USA}
}
@inproceedings{ziegler11iros,
  author = {Jakob Ziegler and Henrik Kretzschmar and Cyrill Stachniss and Giorgio Grisetti and Wolfram Burgard},
  title = {Accurate Human Motion Capture in Large Areas by Combining {IMU}- and Laser-Based People Tracking},
  booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages = {86--91},
  year = 2011,
  doi = {10.1109/IROS.2011.6094430},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/ziegler11iros.pdf},
  address = {San Francisco, CA, USA}
}
@inproceedings{kretzschmar11iros,
  author = {Henrik Kretzschmar and Cyrill Stachniss and Giorgio Grisetti},
  title = {Efficient Information-Theoretic Graph Pruning for Graph-Based {SLAM} with Laser Range Finders},
  booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages = {865--871},
  year = 2011,
  doi = {10.1109/IROS.2011.6094414},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/kretzschmar11iros.pdf},
  address = {San Francisco, CA, USA}
}
@inproceedings{kuemmerle11arso,
  author = {K{\"u}mmerle, R. and Grisetti, G. and Stachniss, C. and Burgard, W.},
  title = {Simultaneous Parameter Calibration, Localization, and Mapping for Robust Service Robotics},
  booktitle = {Proc. of the IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO)},
  year = 2011,
  month = oct,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/kuemmerle11arso.pdf},
  address = {Half Moon Bay, CA, USA},
  abstract = {Modern service robots are designed to be deployed
                   by end-users and not to be monitored by experts
                   during operation. Most service robotics
                   applications require reliable navigation
                   capabilities of the robot.  The calibration
                   parameters of a mobile robot play a substantial
                   role in navigation tasks. Often these parameters
                   are subject to variations that depend either on
                   environmental changes or on the wear of the
                   devices. In this paper, we propose an approach to
                   simultaneously estimate a map of the environment,
                   the position of the on-board sensors of the robot,
                   and its kinematic parameters. Our method requires
                   no prior knowledge about the environment and relies
                   only on a rough initial guess of the platform
                   parameters. The proposed approach performs on-line
                   estimation of the parameters and it is able to
                   adapt to non-stationary changes of the
                   configuration.  Our approach has been implemented
                   and is used on the EUROPA robot, a service robot
                   operating in urban environments. In addition to
                   that, we tested our approach in simulated
                   environments and on a wide range of real world data
                   using different types of robotic platforms.}
}
@inproceedings{ruhnke11arso,
  author = {Ruhnke, M. and K{\"u}mmerle, R. and Grisetti, G. and Burgard, W.},
  title = {Range Sensor Based Model Construction by Sparse Surface Adjustment},
  booktitle = {Proc. of the IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO)},
  year = 2011,
  month = oct,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/ruhnke11arso.pdf},
  address = {Half Moon Bay, CA, USA},
  abstract = {In this paper, we propose an approach to construct
                   highly accurate 3D object models from range data.
                   The main advantage of sensor based model
                   acquisition compared to manual CAD model
                   construction is the short time needed per object.
                   The usual drawbacks of sensor based model
                   reconstruction are sensor noise and errors in the
                   sensor positions which typically lead to less
                   accurate  models. Our method drastically reduces
                   this problem by applying a physical model of the
                   underlying range sensor and utilizing a graph-based
                   optimization technique.  We present our approach
                   and evaluate it on data recorded in different real
                   world environments with an RGBD camera and a laser
                   range scanner.  The experimental results
                   demonstrate that our method provides more accurate
                   maps than standard SLAM  methods and that it
                   additionally compares favorable over the moving
                   least squares method.}
}
@inproceedings{kuemmerle11iros,
  author = {K{\"u}mmerle, R. and Grisetti, G. and Burgard, W.},
  title = {Simultaneous Calibration, Localization, and Mapping},
  booktitle = {Proc. of the {IEEE/RSJ} Int. Conf. on Intelligent Robots and Systems (IROS)},
  year = 2011,
  month = sep,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/kuemmerle11iros.pdf},
  address = {San Francisco, CA, USA},
  abstract = {The calibration parameters of a mobile robot play
                   a substantial role in navigation tasks. Often these
                   parameters are subject to variations that depend
                   either on environmental changes or on the wear of
                   the devices.  In this paper, we propose an approach
                   to simultaneously estimate a map of the
                   environment, the position of the on-board sensors
                   of the robot, and its kinematic parameters. Our
                   method requires no prior knowledge about the
                   environment and relies only on a rough initial
                   guess of the platform parameters. The proposed
                   approach performs on-line estimation of the
                   parameters and it is able to adapt to non-
                   stationary changes of the configuration. We tested
                   our approach in simulated environments and on a
                   wide range of real world data using different types
                   of robotic platforms.}
}
@inproceedings{kuemmerle11icra,
  author = {K{\"u}mmerle, R. and Grisetti, G. and Strasdat, H. and Konolige, K. and Burgard, W.},
  title = {g2o: A General Framework for Graph Optimization},
  booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics and Automation (ICRA)},
  year = 2011,
  month = may,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/kuemmerle11icra.pdf},
  downloads = {http://openslam.org/g2o_Open_source_implementation_(stable); https://github.com/RainerKuemmerle/g2o_Open_source_implementation_(devel)},
  downloads = {http://openslam.org/g2o_Open_source_implementation_(stable); https://github.com/RainerKuemmerle/g2o_Open_source_implementation_(devel)},
  address = {Shanghai, China},
  abstract = {Many popular problems in robotics and computer
                   vision including various types of simultaneous
                   localization and mapping (SLAM) or bundle
                   adjustment (BA) can be phrased as least squares
                   optimization of an error function that can be
                   represented by a graph. This paper describes the
                   general structure of such problems and presents
                   g2o, an open-source C++ framework for optimizing
                   graph-based nonlinear error functions.  Our system
                   has been designed to be easily extensible to a wide
                   range of problems and a new problem typically can
                   be specified in a few lines of code.  The current
                   implementation provides solutions to several
                   variants of SLAM and BA. We provide evaluations on
                   a wide range of real-world and simulated datasets.
                   The results demonstrate that while being general
                   g2o offers a performance comparable to
                   implementations of state-of-the-art approaches for
                   the specific problems.}
}
@inproceedings{ruhnke11icra,
  author = {Ruhnke, M. and K{\"u}mmerle, R. and Grisetti, G. and Burgard, W.},
  title = {Highly Accurate Maximum Likelihood Laser Mapping by Jointly Optimizing Laser Points and Robot Poses},
  booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics and Automation (ICRA)},
  year = 2011,
  month = may,
  doi = {10.1109/ICRA.2011.5980220},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/ruhnke11icra.pdf},
  address = {Shanghai, China},
  abstract = {In this paper we describe an algorithm for
                   learning highly accurate laser-based maps that
                   treats the overall mapping problem as a joint
                   optimization problem over robot poses and laser
                   points.  We assume that a laser range finder senses
                   points sampled from a regular surface and we
                   utilize an improved likelihood function that
                   accounts for two phenomena affecting the laser
                   measurements that are often neglected: the conic
                   shape of the laser beam and the incidence angle.
                   To solve the entire problem we apply an
                   optimization procedure that jointly adjusts the
                   position of all the robot poses and all points in
                   the scans.  As a result, we obtain highly accurate
                   maps. We evaluated our approach using simulated and
                   real-world data and we show that utilizing the
                   estimated maps greatly improves the localization
                   accuracy of robots.  The results furthermore
                   suggest that the accuracy of the resulting map can
                   exceed the resolution of the laser sensors used.}
}
@article{kuemmerle11auro,
  author = {R. K\"ummerle and B. Steder and C. Dornhege and A. Kleiner and G. Grisetti and W. Burgard},
  title = {Large Scale Graph-based {SLAM} using Aerial Images as Prior Information},
  journal = {Journal of Autonomous Robots},
  volume = {30},
  number = {1},
  pages = {25--39},
  year = 2011,
  doi = {10.1007/s10514-010-9204-1},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/kuemmerle11auro.pdf},
  downloads = {http://dx.doi.org/10.1007/s10514-010-9204-1_Online_Version},
  downloads = {http://dx.doi.org/10.1007/s10514-010-9204-1_Online_Version},
  abstract = {The problem of learning a map with a mobile robot
                   has been intensively studied in the past and is
                   usually referred to as the simultaneous
                   localization and mapping (SLAM) problem. However,
                   most existing solutions to the SLAM problem learn
                   the maps from scratch and have no means for
                   incorporating prior information. In this paper, we
                   present a novel SLAM approach that achieves global
                   consistency by utilizing publicly accessible aerial
                   photographs as prior information. It inserts
                   correspondences found between stereo and three-
                   dimensional range data and the aerial images as
                   constraints into a graph-based formulation of the
                   SLAM problem. We evaluate our algorithm based on
                   large real-world datasets acquired even in mixed
                   in- and outdoor environments by comparing the
                   global accuracy with state-of-the-art SLAM
                   approaches and GPS. The experimental results
                   demonstrate that the maps acquired with our method
                   show increased global consistency.}
}
@inproceedings{lau11ecmr,
  author = {Boris Lau and Christoph Sprunk and Wolfram Burgard},
  title = {Incremental Updates of Configuration Space Representations for Non-Circular Mobile Robots with 2D, 2.5D, or 3D Obstacle Models},
  booktitle = {European Conference on Mobile Robots (ECMR)},
  pages = {49--54},
  year = 2011,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/lau11ecmr.pdf},
  address = {\"{O}rebro, Sweden}
}
@inproceedings{sauer11iolts,
  author = {Sauer, M. and Tomashevich, V. and M\"{u}ller, J. and Lewis, M. and Spilla, A. and Polian, I. and Becker, B. and Burgard, W.},
  title = {An {FPGA}-Based Framework for Run-time Injection and Analysis of Soft Errors in Microprocessors},
  booktitle = {Proceedings of the IEEE International On-Line Testing Symposium (IOLTS)},
  pages = {182--185},
  year = 2011,
  month = jul,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/sauer11iolts.pdf},
  address = {Athens, Greece}
}
@inproceedings{spilla11tuz,
  author = {Spilla, A. and Polian, I. and M\"{u}ller, J. and Lewis, M. and Tomashevich, V. and Becker, B. and Burgard, W.},
  title = {Run-time Soft Error Injection and Testing of a Microprocessor using {FPGAs}.},
  booktitle = {Proceedings of the Workshop Testmethoden und Zuverlässigkeit von Schaltungen und Systemen (TUZ)},
  year = 2011,
  month = feb,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/spilla11tuz.pdf},
  address = {Passau, Germany}
}
@inproceedings{mueller11iros,
  author = {M\"{u}ller, J. and Kohler, N. and Burgard, W.},
  title = {Autonomous Miniature Blimp Navigation with Online Motion Planning and Re-planning},
  booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages = {4941--4946},
  year = 2011,
  month = sep,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/mueller11iros.pdf},
  address = {San Francisco, CA, USA}
}
@inproceedings{steder11iros,
  author = {Steder, B. and Ruhnke, M. and Grzonka, S. and Burgard, W.},
  title = {Place Recognition in 3D Scans Using a Combination of Bag of Words and Point Feature based Relative Pose Estimation},
  booktitle = {Proc.~of the Int.~Conf.~on Intelligent Robots and Systems (IROS)},
  year = 2011,
  doi = {10.1109/IROS.2011.6094638},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/steder11iros.pdf},
  abstract = {Place recognition, i.e., the ability to recognize
                   previously seen parts of the environment, is one of
                   the fundamental tasks in mobile robotics. The wide
                   range of applications of place recognition includes
                   localization (determine the initial pose), SLAM
                   (detect loop closures), and change detection in
                   dynamic environments. In the past, only relatively
                   little work has been carried out to attack this
                   problem using 3D range data and the majority of
                   approaches focuses on detecting similar structures
                   without estimating relative poses. In this paper,
                   we present an algorithm based on 3D range data that
                   is able to reliably detect previously seen parts of
                   the environment and at the same time calculates an
                   accurate transformation between the corresponding
                   scan-pairs. Our system uses the estimated
                   transformation to evaluate a candidate and in this
                   way to more robustly reject false positives for
                   place recognition. We present an extensive set of
                   experiments using publicly available datasets in
                   which we compare our system to other state-of-the-
                   art approaches.}
}
@inproceedings{sprunk11icra,
  author = {C. Sprunk and B. Lau and P. Pfaff and W. Burgard},
  title = {Online Generation of Kinodynamic Trajectories for Non-Circular Omnidirectional Robots},
  booktitle = {Proc. of the IEEE International Conference on Robotics and Automation (ICRA)},
  pages = {72--77},
  year = 2011,
  month = may,
  doi = {10.1109/ICRA.2011.5980146},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/sprunk11icra.pdf},
  address = {Shanghai, China}
}
@article{sturm11jair,
  author = {J. Sturm and C. Stachniss and W. Burgard},
  title = {A Probabilistic Framework for Learning Kinematic Models of Articulated Objects},
  journal = {Journal on Artificial Intelligence Research},
  volume = {41},
  pages = {477--526},
  year = 2011,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/sturm11jair.pdf}
}
@inproceedings{bennewitz11humanoids,
  author = {M. Bennewitz and D. Maier and A. Hornung and C. Stachniss},
  title = {Integrated Perception and Navigation in Complex Indoor Environments},
  booktitle = {Proc.~of the IEEE-RAS Int.~Conf.~on Humanoid Robots (HUMANOIDS)},
  year = 2011,
  note = {Invited presentation at the workshop on Humanoid
                   service robot navigation in crowded and dynamic
                   environments}
}
@inproceedings{becker11irosws,
  author = {J. Becker and C. Bersch and D. Pangercic and B. Pitzer and T. R\"uhr and B. Sankaran and J. Sturm and C. Stachniss and M. Beetz and W. Burgard},
  title = {Mobile Manipulation of Kitchen Containers},
  booktitle = {Proc.~of the IROS'11 Workshop on Results, Challenges and Lessons Learned in Advancing Robots with a Common Platform},
  year = 2011,
  doi = {10.1109/ICRA.2011.5980259},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/becker11irosws.pdf},
  address = {San Francisco, CA, USA}
}
@inproceedings{wurm11iros,
  author = {K.M. Wurm  and D. Hennes  and D. Holz and R.B. Rusu and C. Stachniss and K. Konolige and W. Burgard},
  title = {Hierarchies of Octrees for Efficient 3D Mapping},
  booktitle = {Proc.~of the IEEE/RSJ Int.~Conf.~on Intelligent Robots and Systems (IROS)},
  year = 2011,
  month = sep,
  doi = {10.1109/IROS.2011.6094571},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/wurm11iros.pdf},
  address = {San Francisco, CA, USA}
}
@inproceedings{frank11iros,
  author = {B. Frank and C. Stachniss and N. Abdo and W. Burgard},
  title = {Efficient Motion Planning for Manipulation Robots in Environments with Deformable Objects},
  booktitle = {Proc.~of the IEEE/RSJ Int.~Conf.~on Intelligent Robots and Systems (IROS)},
  year = 2011,
  doi = {10.1109/IROS.2011.6094946},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/frank11iros.pdf},
  address = {San Francisco, CA, USA}
}
@inproceedings{frank11pamr,
  author = {B. Frank and C. Stachniss and N. Abdo and W. Burgard},
  title = {Using Gaussian Process Regression for Efficient Motion Planning in Environments with Deformable Objects},
  booktitle = {Proc. of the AAAI-11 Workshop on Automated Action Planning for Autonomous Mobile Robots (PAMR)},
  year = 2011,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/frank11pamr.pdf},
  address = {San Francisco, CA, USA}
}
@inproceedings{maier11icra,
  author = {D. Maier and M. Bennewitz and C. Stachniss},
  title = {Self-supervised Obstacle Detection for Humanoid Navigation Using Monocular Vision and Sparse Laser Data},
  booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
  year = 2011,
  doi = {10.1109/ICRA.2011.5979661},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/maier11icra.pdf},
  address = {Shanghai, China}
}
@inbook{asadi11gasbook,
  author = {S. Asadi and M. Reggente and  C. Stachniss and  C. Plagemann and A.J. Lilienthal},
  title = {Intelligent Systems for Machine Olfaction: Tools and Methodologies},
  pages = {153--179},
  year = 2011,
  publisher = {{IGI} {G}lobal},
  editor = {E.L. Hines and  M.S. Leeson},
  chapter = {Statistical Gas Distribution Modelling using
                   Kernel Methods}
}
@inproceedings{steder11icra,
  author = {B. Steder and R. B. Rusu and K. Konolige and W. Burgard},
  title = {Point Feature Extraction on {3D} Range Scans Taking into Account Object Boundaries},
  booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
  year = 2011,
  doi = {10.1109/ICRA.2011.5980187},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/steder11icra.pdf},
  abstract = {In this paper we address the topic of feature
                   extraction in 3D point cloud data for object
                   recognition and pose identification. We present a
                   novel interest keypoint extraction method that
                   operates on range images generated from arbitrary
                   3D point clouds, which explicitly considers the
                   borders of the objects identified by transitions
                   from foreground to background. We furthermore
                   present a feature descriptor that takes the same
                   information into account.  We have implemented our
                   approach and present rigorous experiments in which
                   we analyze the individual components with respect
                   to their repeatability and matching capabilities
                   and evaluate the usefulness for point feature based
                   object detection methods.}
}
@inproceedings{grundmann10iros,
  author = {Grundmann, Thilo and Fiegert, Michael and Burgard, Wolfram},
  title = {Probabilistic rule set joint state update as approximation to the full joint state estimation applied to multi object scene analysis},
  booktitle = {Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages = {2047--2052},
  year = 2010,
  doi = {10.1109/IROS.2010.5650433}
}
@inproceedings{bouabdallah10uav,
  author = {Bouabdallah, S. and Bermes, C. and Grzonka, S. and Gimkiewicz, C. and Brenzikofer, A. and Hahn, R. and Schafroth, D. and Grisetti, G. and Burgard, W. and Siegwart, R.},
  title = {Towards Palm-Size Autonomous Helicopters},
  booktitle = {International Conference and Exhibition on Unmanned Areal Vehicles (UAV)},
  year = 2010,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/bouabdallah10uav.pdf}
}
@inproceedings{grzonka10icra,
  author = {Grzonka, S. and Dijoux, F. and Karwath, A. and Burgard, W.},
  title = {Mapping Indoor Environments Based on Human Activity},
  booktitle = {Proc. IEEE International Conference on Robotics and Automation (ICRA)},
  year = 2010,
  doi = {10.1109/ROBOT.2010.5509976},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/grzonka10icra.pdf},
  address = {Anchorage, Ak, USA}
}
@inproceedings{joho10icra,
  author = {Dominik Joho and Wolfram Burgard},
  title = {Searching for Objects: Combining Multiple Cues To Object Locations Using a Maximum Entropy Model},
  booktitle = {Proceedings of the {IEEE} International Conference on Robotics and Automation {(ICRA)}},
  pages = {723--728},
  year = 2010,
  month = may,
  doi = {10.1109/ROBOT.2010.5509285},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/joho10icra.pdf},
  isbn = {978-1-4244-5038-1},
  issn = {1050-4729},
  address = {Anchorage, AK, USA}
}
@article{kretzschmar10ki,
  author = {Henrik Kretzschmar and Giorgio Grisetti and Cyrill Stachniss},
  title = {Lifelong Map Learning for Graph-based {SLAM} in Static Environments},
  journal = {{KI} -- {K}\"unstliche {I}ntelligenz},
  volume = {24},
  pages = {199--206},
  year = 2010,
  doi = {10.1007/s13218-010-0034-2},
  issue = {3}
}
@article{grisetti10titsmag,
  author = {G. Grisetti and R. K{\"u}mmerle and C. Stachniss and W. Burgard},
  title = {A Tutorial on Graph-Based {SLAM}},
  journal = {Intelligent Transportation Systems Magazine, IEEE},
  volume = {2},
  number = {4},
  pages = {31--43},
  year = 2010,
  doi = {10.1109/MITS.2010.939925},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/grisetti10titsmag.pdf},
  downloads = {http://dx.doi.org/10.1109/MITS.2010.939925_Online_Version},
  downloads = {http://dx.doi.org/10.1109/MITS.2010.939925_Online_Version},
  issue = {4},
  abstract = {Being able to build a map of the environment and
                   to simultaneously localize within this map is an
                   essential skill for mobile robots navigating in
                   unknown environments in absence of external
                   referencing systems such as GPS. This so-called
                   simultaneous localization and mapping (SLAM)
                   problem has been one of the most popular research
                   topics in mobile robotics for the last two decades
                   and efficient approaches for solving this task have
                   been proposed. One intuitive way of formulating
                   SLAM is to use a graph whose nodes correspond to
                   the poses of the robot at different points in time
                   and whose edges represent constraints between the
                   poses. The latter are obtained from observations of
                   the environment or from movement actions carried
                   out by the robot. Once such a graph is constructed,
                   the map can be computed by finding the spatial
                   configuration of the nodes that is mostly
                   consistent with the measurements modeled by the
                   edges. In this paper, we provide an introductory
                   description to the graph- based SLAM problem.
                   Furthermore, we discuss a state- of-the-art
                   solution that is based on least-squares error
                   minimization and exploits the structure of the SLAM
                   problems during optimization. The goal of this
                   tutorial is to enable the reader to implement the
                   proposed methods from scratch.}
}
@inproceedings{konolige10iros,
  author = {K. Konolige and G. Grisetti and R. K{\"u}mmerle and W. Burgard and B. Limketkai and R. Vincent},
  title = {Efficient Sparse Pose Adjustment for 2D Mapping},
  booktitle = {Proc. of the {IEEE/RSJ} Int. Conf. on Intelligent Robots and Systems (IROS)},
  year = 2010,
  month = oct,
  doi = {10.1109/IROS.2010.5649043},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/konolige10iros.pdf},
  downloads = {http://www.ros.org/research/2010/spa/_2D_Data_sets; http://ais.informatik.uni-freiburg.de/~kuemmerl/data/spa-iros.mp4_Movie_(6.6_MB)},
  downloads = {http://www.ros.org/research/2010/spa/_2D_Data_sets; http://ais.informatik.uni-freiburg.de/~kuemmerl/data/spa-iros.mp4_Movie_(6.6_MB)},
  address = {Taipei, Taiwan},
  abstract = {Pose graphs have become a popular representation
                   for solving the simultaneous localization and
                   mapping (SLAM) problem. A pose graph is a set of
                   robot poses connected by nonlinear constraints
                   obtained from observations of features common to
                   nearby poses. Optimizing large pose graphs has been
                   a bottleneck for mobile robots, since the
                   computation time of direct nonlinear optimization
                   can grow cubically with the size of the graph. In
                   this paper, we propose an efficient method for
                   constructing and solving the linear subproblem,
                   which is the bottleneck of these direct methods. We
                   compare our method, called Sparse Pose Adjustment
                   (SPA), with competing indirect methods, and show
                   that it outperforms them in terms of convergence
                   speed and accuracy. We demonstrate its
                   effectiveness on a large set of indoor real-world
                   maps, and a very large simulated dataset. Open-
                   source implementations in C++, and the datasets,
                   are publicly available.}
}
@inproceedings{grisetti10icra,
  author = {G. Grisetti and R. K{\"u}mmerle and C. Stachniss and U. Frese and C. Hertzberg},
  title = {Hierarchical Optimization on Manifolds for Online 2D and 3D Mapping},
  booktitle = {Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA)},
  year = 2010,
  month = may,
  doi = {10.1109/ROBOT.2010.5509407},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/grisetti10icra.pdf},
  downloads = {http://www.openslam.org/hog-man.html_Open_source_implementation_-_HOG-Man},
  downloads = {http://www.openslam.org/hog-man.html_Open_source_implementation_-_HOG-Man},
  address = {Anchorage, AK, USA},
  abstract = {In this paper, we present a new hierarchical
                   optimization solution to the graph-based
                   simultaneous localization and mapping (SLAM)
                   problem. During online mapping, the approach
                   corrects only the coarse structure of the scene and
                   not the overall map. In this way, only updates for
                   the parts of the map that need to be considered for
                   making data associations are carried out. The
                   hierarchical approach provides accurate non-linear
                   map estimates while being highly efficient. Our
                   error minimization approach exploits the manifold
                   structure of the underlying space.  In this way, it
                   avoids singularities in the state space
                   parameterization.  The overall approach is
                   accurate, efficient, designed for online operation,
                   overcomes singularities, provides a hierarchical
                   representation, and outperforms a series of state-
                   of-the-art methods.}
}
@article{lau10ijsr,
  author = {Boris Lau and Kai O. Arras and Wolfram Burgard},
  title = {Multi-model Hypothesis Group Tracking and Group Size Estimation},
  journal = {International Journal of Social Robotics, Springer},
  volume = {2},
  number = {1},
  pages = {19--30},
  year = 2010,
  url = {http://www.springerlink.com/content/gq863gk53135u1p4/}
}
@inproceedings{lau10iros,
  author = {Boris Lau and Christoph Sprunk and Wolfram Burgard},
  title = {Improved Updating of Euclidean Distance Maps and {Voronoi} Diagrams},
  booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year = 2010,
  doi = {10.1109/IROS.2010.5650794},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/lau10iros.pdf},
  address = {Taipei, Taiwan}
}
@inproceedings{mueller10icra,
  author = {M\"{u}ller, J. and Gonsior, C. and Burgard, W.},
  title = {Improved {M}onte {C}arlo Localization of Autonomous Robots through Simultaneous Estimation of Motion Model Parameters},
  booktitle = {Proceedings of the IEEE International Conference on Robotics \& Automation (ICRA)},
  pages = {2604--2609},
  year = 2010,
  month = may,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/mueller10icra.pdf},
  address = {Anchorage, AK, USA}
}
@article{cornils10,
  author = {Cornils, M. and Rottmann, A. and Paul, O.},
  title = {How to Extract the Sheet Resistance and Hall Mobility From Arbitrarily Shaped Planar Four- Terminal Devices With Extended Contacts},
  journal = {IEEE Transactions on Electron Devices},
  volume = {57},
  number = {9},
  pages = {2087--2097},
  year = 2010
}
@inproceedings{rottmann10dagm,
  author = {Rottmann, A. and Burgard, W.},
  title = {Learning Non-stationary System Dynamics Online Using {G}aussian Processes},
  booktitle = {Proc.~of the German Association for Pattern Recognition (DAGM)},
  pages = {192--201},
  year = 2010
}
@inproceedings{schopp10sensors,
  author = {Schopp, P. and Rottmann, A. and Klingbeil, L. and Burgard, W. and Manoli, Y.},
  title = {Gaussian Process Based State Estimation for a Gyroscope-Free IMU},
  booktitle = {Proc.~ of the IEEE Sensors Conference},
  pages = {873--878},
  year = 2010
}
@inproceedings{ruhnke10iros,
  author = {Ruhnke, M. and Steder, B. and Grisetti, G. and Burgard, W},
  title = {Unsupervised Learning of Compact 3D Models Based on the Detection of Recurrent Structures},
  booktitle = {Proc.~of the Int.~Conf.~on Intelligent Robots and Systems (IROS)},
  year = 2010,
  month = oct,
  doi = {10.1109/IROS.2010.5649730},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/ruhnke10iros.pdf},
  address = {Taipei, Taiwan},
  abstract = {In this paper we describe a novel algorithm for
                   constructing a compact representation of 3D laser
                   range data. Our approach extracts an alphabet of
                   local scans from the scene. The words of this
                   alphabet are used to replace recurrent local 3D
                   structures and which leads to a substantial
                   compression of the entire point cloud. We optimize
                   our model in terms of complexity and accuracy by
                   minimizing the Bayesian information criterion
                   (BIC). Experimental evaluations on large real-world
                   data show that our method allows robots to
                   accurately reconstruct environments with as few as
                   70 words.}
}
@inproceedings{burgard10irosws,
  author = {Burgard, W. and Wurm, K.M. and  Bennewitz, M. and Stachniss, C. and  Hornung, A. and Rusu, R.B. and Konolige, K.},
  title = {Modeling the World Around Us: An Efficient 3D Representation for Personal Robotics},
  booktitle = {Workshop on Defining and Solving Realistic Perception Problems in Personal Robotics at the IEEE/RSJ Int.~Conf.~on Intelligent Robots and Systems},
  year = 2010,
  address = {Taipei, Taiwan}
}
@inproceedings{wurm10iros,
  author = {K.M. Wurm and C. Dornhege and P. Eyerich and C. Stachniss and  B. Nebel and W. Burgard},
  title = {Coordinated Exploration with Marsupial Teams of Robots using Temporal Symbolic Planning},
  booktitle = {Proc.~of the IEEE/RSJ Int.~Conf.~on Intelligent Robots and Systems (IROS)},
  year = 2010,
  month = oct,
  doi = {10.1109/IROS.2010.5649820},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/wurm10iros.pdf},
  address = {Taipei, Taiwan}
}
@inproceedings{sturm10iros,
  author = {J. Sturm and A. Jain and C. Stachniss and C.C. Kemp and W. Burgard},
  title = {Robustly Operating Articulated Objects based on Experience},
  booktitle = {Proc.~of the IEEE/RSJ Int.~Conf.~on Intelligent Robots and Systems (IROS)},
  year = 2010,
  doi = {10.1109/IROS.2010.5653813},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/sturm10iros.pdf},
  address = {Taipei, Taiwan}
}
@inproceedings{frank10iros,
  author = {B. Frank  and R. Schmedding and C. Stachniss and M. Teschner and W. Burgard},
  title = {Learning the Elasticity Parameters of Deformable Objects with a Manipulation Robot},
  booktitle = {Proc.~of the IEEE/RSJ Int.~Conf.~on Intelligent Robots and Systems (IROS)},
  year = 2010,
  doi = {10.1109/IROS.2010.5653949},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/frank10iros.pdf},
  address = {Taipei, Taiwan}
}
@inproceedings{hornung10erlars,
  author = {A. Hornung and M.Bennewitz and C. Stachniss and H. Strasdat and S. O{\ss}wald and W. Burgard},
  title = {Learning Adaptive Navigation Strategies for Resource-Constrained Systems},
  booktitle = {Proc.~of the Int.~Workshop on Evolutionary and Reinforcement Learning for Autonomous Robot Systems},
  year = 2010,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/hornung10erlars.pdf},
  address = {Lisbon, Portugal}
}
@inproceedings{sturm10rssws,
  author = {J. Sturm and K. Konolige and C. Stachniss and W. Burgard},
  title = {3D Pose Estimation, Tracking and Model Learning of Articulated Objects from Dense Depth Video using Projected Texture Stereo},
  booktitle = {Proc.~of the Workshop RGB-D: Advanced Reasoning with Depth Cameras at Robotics: Science and Systems (RSS)},
  year = 2010,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/sturm10rssws.pdf},
  address = {Zaragoza, Spain}
}
@inproceedings{frank10rssws,
  author = {B. Frank  and R. Schmedding and C. Stachniss and M. Teschner and W. Burgard},
  title = {Learning Deformable Object Models for Mobile Robot Path Planning using Depth Cameras and a Manipulation Robot},
  booktitle = {Proc.~of the Workshop RGB-D: Advanced Reasoning with Depth Cameras at Robotics: Science and Systems (RSS)},
  year = 2010,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/frank10rssws.pdf},
  address = {Zaragoza, Spain}
}
@article{plagemann10ras,
  author = {C. Plagemann and C. Stachniss and J. Hess and F. Endres and N. Franklin},
  title = {A Nonparametric Learning Approach to Range Sensing from Omnidirectional Vision},
  journal = {Robotics and Autonomous Systems},
  volume = {58},
  pages = {762--772},
  year = 2010,
  issue = {6}
}
@inproceedings{karg10icra,
  author = {M. Karg and K.M. Wurm and C. Stachniss and K. Dietmayer and  W. Burgard},
  title = {Consistent Mapping of Multistory Buildings  by Introducing Global Constraints to Graph-based {SLAM}},
  booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
  year = 2010,
  month = may,
  doi = {10.1109/ROBOT.2010.5509977},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/karg10icra.pdf},
  address = {Anchorage, Alaska}
}
@inproceedings{sturm10icra,
  author = {J. Sturm and K. Konolige and C. Stachniss and W. Burgard},
  title = {Vision-based Detection for Learning Articulation Models of Cabinet Doors and Drawers in Household Environments},
  booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
  year = 2010,
  doi = {10.1109/ROBOT.2010.5509985},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/sturm10icra.pdf},
  address = {Anchorage, Alaska}
}
@inproceedings{wurm10icraws,
  author = {K.M. Wurm and A. Hornung and M. Bennewitz and C. Stachniss and W. Burgard},
  title = {{OctoMap}: A Probabilistic, Flexible, and Compact {3D} Map Representation for Robotic Systems},
  booktitle = {Proc. of the ICRA 2010 Workshop on Best Practice in 3D Perception and Modeling for Mobile Manipulation},
  year = 2010,
  month = may,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/wurm10icraws.pdf},
  address = {Anchorage, AK, USA}
}
@incollection{mueller10cogsysbook,
  author = {M\"{u}ller, J. and Stachniss, C. and Arras, K.O. and Burgard, W.},
  title = {Socially Inspired Motion Planning for Mobile Robots in Populated Environments},
  booktitle = {Cognitive Systems},
  year = 2010,
  publisher = {Springer},
  series = {Cognitive Systems Monographs},
  note = {In press}
}
@article{wurm10ras,
  author = {Wurm, K.M. and Stachniss, C. and Grisetti, G.},
  title = {Bridging the Gap Between Feature- and Grid- based SLAM},
  journal = {Robotics and Autonomous Systems},
  volume = {58},
  number = {2},
  pages = {140--148},
  year = 2010,
  doi = {10.1016/j.robot.2009.09.009},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/wurm10ras.pdf},
  issn = {0921-8890}
}
@inproceedings{steder10irosws,
  author = {B. Steder and R. B. Rusu and K. Konolige and W. Burgard},
  title = {{NARF}: {3D} Range Image Features for Object Recognition},
  booktitle = {Workshop on Defining and Solving Realistic Perception Problems in Personal Robotics at the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS)},
  year = 2010,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/steder10irosws.pdf},
  address = {Taipei, Taiwan},
  abstract = {We present our findings regarding a novel method
                   for interest point detection and feature descriptor
                   calculation in 3D range data called NARF~(Normal
                   Aligned Radial Feature). The method makes explicit
                   use of object boundary information and tries to
                   extract the features in areas where the surface is
                   stable but has substantial change in the
                   vicinity.}
}
@inproceedings{steder10icra,
  author = {Steder, B. and Grisetti, G. and Burgard, W.},
  title = {Robust Place Recognition for {3D} Range Data based on Point Features},
  booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
  year = 2010,
  doi = {10.1109/ROBOT.2010.5509401},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/steder10icra.pdf},
  abstract = {The problem of place recognition appears in
                   different mobile robot navigation problems
                   including localization, SLAM, or change detection
                   in dynamic environments. Whereas this problem has
                   been studied intensively in the context of robot
                   vision, relatively few approaches are available for
                   three- dimensional range data.  In this paper, we
                   present a novel and robust method for place
                   recognition based on range images. Our algorithm
                   matches a given 3D scan against a database using
                   point features and scores potential transformations
                   by comparing significant points in the scans. A
                   further advantage of our approach is that the
                   features allow for a computation of the relative
                   transformations between scans which is relevant for
                   registration processes. Our approach has been
                   implemented and tested on different 3D data sets
                   obtained outdoors. In several experiments we
                   demonstrate the advantages of our approach also in
                   comparison to existing techniques.}
}
@inproceedings{hornung10iros,
  author = {Armin Hornung and Kai M. Wurm and Maren Bennewitz},
  title = {Humanoid Robot Localization in Complex Indoor Environments},
  booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year = 2010,
  doi = {10.1109/IROS.2010.5649751},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/hornung10iros.pdf},
  address = {Taipei, Taiwan}
}
@inproceedings{meyerdelius10iros,
  author = {D. Meyer-Delius and J. Hess and G. Grisetti and W. Burgard},
  title = {Temporary Maps for Robust Localization in Semi-static Environments},
  booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year = 2010,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/meyerdelius10iros.pdf},
  address = {Taipei, Taiwan}
}
@inproceedings{hornung09iros,
  author = {A. Hornung and H. Strasdat and M. Bennewitz and W. Burgard},
  title = {Learning Efficient Policies for Vision-based Navigation},
  booktitle = {Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year = 2009,
  doi = {10.1109/IROS.2009.5354634},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/hornung09iros.pdf}
}
@inproceedings{eppner09icra,
  author = {C. Eppner and J. Sturm and M. Bennewitz and Stachniss, C. and Burgard, W.},
  title = {Imitation Learning with Generalized Task Descriptions},
  booktitle = {Proc.~of the IEEE International Conference on Robotics \& Automation (ICRA)},
  year = 2009,
  doi = {10.1109/ROBOT.2009.5152466},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/eppner09icra.pdf},
  address = {Kobe, Japan}
}
@inproceedings{pretto09icra,
  author = {A. Pretto and E. Menegatti and M. Bennewitz and W. Burgard and E. Pagello},
  title = {A Visual Odometry Framework Robust to Motion Blur},
  booktitle = {Proc.~of the IEEE International Conference on Robotics \& Automation (ICRA)},
  year = 2009,
  doi = {10.1109/ROBOT.2009.5152447},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/pretto09icra.pdf}
}
@inproceedings{bennewitz09icra,
  author = {M. Bennewitz and  Stachniss, C. and Behnke, S. and  Burgard, W.},
  title = {Utilizing Reflection Properties of Surfaces to Improve Mobile Robot Localization},
  booktitle = {Proc.~of the IEEE International Conference on Robotics \& Automation (ICRA)},
  year = 2009,
  doi = {10.1109/ROBOT.2009.5152186},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/bennewitz09icra.pdf},
  address = {Kobe, Japan}
}
@inproceedings{grzonka09icra,
  author = {Grzonka, S. and Grisetti, G. and Burgard, W.},
  title = {Towards a Navigation System for Autonomous Indoor Flying},
  booktitle = {Proc. IEEE International Conference on Robotics and Automation (ICRA)},
  year = 2009,
  doi = {10.1109/ROBOT.2009.5152446},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/grzonka09icra.pdf},
  address = {Kobe, Japan}
}
@inproceedings{grzonka09ijrr,
  author = {Grzonka, S. and Plagemann, C. and Grisetti, G. and Burgard, W.},
  title = {Look-ahead Proposals for Robust Grid-based SLAM with Rao-Blackwellized Particle Filters},
  booktitle = {International Journal of Robotics Research (IJRR)},
  pages = {191--200},
  year = 2009,
  month = feb,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/grzonka09ijrr.pdf}
}
@inproceedings{joho09ecmr,
  author = {Dominik Joho and Martin Senk and Wolfram Burgard},
  title = {Learning Wayfinding Heuristics Based on Local Information of Object Maps},
  booktitle = {Proceedings of the European Conference on Mobile Robots {(ECMR)}},
  pages = {117--122},
  year = 2009,
  month = sep,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/joho09ecmr.pdf},
  isbn = {978-953-6037-54-4},
  address = {Mlini/Dubrovnik, Croatia}
}
@inproceedings{joho09icra,
  author = {Dominik Joho and Christian Plagemann and Wolfram Burgard},
  title = {Modeling {RFID} Signal Strength and Tag Detection for Localization and Mapping},
  booktitle = {Proceedings of the {IEEE} International Conference on Robotics and Automation {(ICRA)}},
  pages = {3160--3165},
  year = 2009,
  month = may,
  doi = {10.1109/ROBOT.2009.5152372},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/joho09icra.pdf},
  isbn = {978-1-4244-2788-8},
  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.},
  issn = {1050-4729},
  note = {to appear},
  address = {Kobe, Japan}
}
@article{kuemmerle09auro,
  author = {K\"ummerle, R. and B. Steder and C. Dornhege and M. Ruhnke and G. Grisetti and C. Stachniss and A. Kleiner},
  title = {On Measuring the Accuracy of {SLAM} Algorithms},
  journal = {Journal of Autonomous Robots},
  volume = {27},
  number = {4},
  pages = {387--407},
  year = 2009,
  doi = {10.1007/s10514-009-9155-6},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/kuemmerle09auro.pdf},
  downloads = {http://ais.informatik.uni-freiburg.de/slamevaluation_Evaluation_Software_and_Datasets; http://dx.doi.org/10.1007/s10514-009-9155-6_Online_Version},
  downloads = {http://ais.informatik.uni-freiburg.de/slamevaluation_Evaluation_Software_and_Datasets; http://dx.doi.org/10.1007/s10514-009-9155-6_Online_Version},
  issue = {4},
  abstract = {In this paper, we address the problem of creating
                   an objective benchmark for evaluating SLAM
                   approaches. We propose a framework for analyzing
                   the results of a SLAM approach based on a metric
                   for measuring the error of the corrected
                   trajectory. This metric uses only relative
                   relations between poses and does not rely on a
                   global reference frame. This overcomes serious
                   shortcomings of approaches using a global reference
                   frame to compute the error. Our method furthermore
                   allows us to compare SLAM approaches that use
                   different estimation techniques or different sensor
                   modalities since all computations are made based on
                   the corrected trajectory of the robot. We provide
                   sets of relative relations needed to compute our
                   metric for an extensive set of datasets frequently
                   used in the robotics community. The relations have
                   been obtained by manually matching laser-range
                   observations to avoid the errors caused by matching
                   algorithms. Our benchmark framework allows the user
                   to easily analyze and objectively compare different
                   SLAM approaches.}
}
@inproceedings{wurm09iros,
  author = {K.M. Wurm and R. K{\"u}mmerle and C. Stachniss and W. Burgard},
  title = {Improving Robot Navigation in Structured Outdoor Environments by Identifying Vegetation from Laser Data},
  booktitle = {Proc. of the {IEEE/RSJ} Int. Conf. on Intelligent Robots and Systems (IROS)},
  year = 2009,
  month = oct,
  doi = {10.1109/IROS.2009.5354530},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/wurm09iros.pdf},
  downloads = {http://ais.informatik.uni-freiburg.de/~kuemmerl/data/terrain-autonomous-msmpeg.avi_Xvid_Avi_(5_MB)},
  downloads = {http://ais.informatik.uni-freiburg.de/~kuemmerl/data/terrain-autonomous-msmpeg.avi_Xvid_Avi_(5_MB)},
  address = {St. Louis, MO, USA},
  abstract = {This paper addresses the problem of vegetation
                   detection from laser measurements. The ability to
                   detect vegetation is important for robots operating
                   outdoors, since it enables a robot to navigate more
                   efficiently and safely in such environments. In
                   this paper, we propose a novel approach for
                   detecting low, grass-like vegetation using laser
                   remission values. In our algorithm, the laser
                   remission is modeled as a function of distance,
                   incidence angle, and material. We classify surface
                   terrain based on 3D scans of the surroundings of
                   the robot. The model is learned in a self-
                   supervised way using vibration- based terrain
                   classification.  In all real world experiments we
                   carried out, our approach yields a classification
                   accuracy of over 99\%. We furthermore illustrate
                   how the learned classifier can improve the
                   autonomous navigation capabilities of mobile
                   robots.}
}
@inproceedings{burgard09iros,
  author = {W. Burgard and C. Stachniss and G. Grisetti and B. Steder and R. K{\"u}mmerle and C. Dornhege and M. Ruhnke and A. Kleiner and Juan D. Tard{\'o}s},
  title = {A Comparison of SLAM Algorithms Based on a Graph of Relations},
  booktitle = {Proc. of the {IEEE/RSJ} Int. Conf. on Intelligent Robots and Systems (IROS)},
  year = 2009,
  month = oct,
  doi = {10.1109/IROS.2009.5354691},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/burgard09iros.pdf},
  downloads = {http://ais.informatik.uni-freiburg.de/~kuemmerl/data/slameval-video.avi_Xvid_Avi_(3_MB)},
  downloads = {http://ais.informatik.uni-freiburg.de/~kuemmerl/data/slameval-video.avi_Xvid_Avi_(3_MB)},
  address = {St. Louis, MO, USA},
  abstract = {In this paper, we address the problem of creating
                   an objective benchmark for comparing SLAM
                   approaches. We propose a framework for analyzing
                   the results of SLAM approaches based on a metric
                   for measuring the error of the corrected
                   trajectory. The metric uses only relative relations
                   between poses and does not rely on a global
                   reference frame.  The idea is related to graph-
                   based SLAM approaches in the sense that it
                   considers the energy needed to deform the
                   trajectory estimated by a SLAM approach to the
                   ground truth trajectory.  Our method enables us to
                   compare SLAM approaches that use different
                   estimation techniques or different sensor
                   modalities since all computations are made based on
                   the corrected trajectory of the robot.  We provide
                   sets of relative relations needed to compute our
                   metric for an extensive set of datasets frequently
                   used in the SLAM community. The relations have been
                   obtained by manually matching laser-range
                   observations. We believe that our benchmarking
                   framework allows the user an easy analysis and
                   objective comparisons between different SLAM
                   approaches.}
}
@inproceedings{kuemmerle09rss,
  author = {K{\"u}mmerle, R. and Steder, B. and Dornhege, C. and Kleiner, A. and Grisetti, G. and Burgard, W.},
  title = {Large Scale Graph-based {SLAM} using Aerial Images as Prior Information},
  booktitle = {Proceedings of Robotics: Science and Systems (RSS)},
  year = 2009,
  month = jun,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/kuemmerle09rss.pdf},
  downloads = {http://ais.informatik.uni-freiburg.de/~kuemmerl/data/satelliteSLAM_indoorFast.avi_Xvid_Avi_(53_MB)},
  downloads = {http://ais.informatik.uni-freiburg.de/~kuemmerl/data/satelliteSLAM_indoorFast.avi_Xvid_Avi_(53_MB)},
  address = {Seattle, WA, USA},
  abstract = {To effectively navigate in their environments and
                   accurately reach their target locations, mobile
                   robots require a globally consistent map of the
                   environment.  The problem of learning a map with a
                   mobile robot has been intensively studied in the
                   past and is usually referred to as the simultaneous
                   localization and mapping (SLAM) problem.  However,
                   existing solutions to the SLAM problem typically
                   rely on loop-closures to obtain global consistency
                   and do not exploit prior information even if it is
                   available. In this paper, we present a novel SLAM
                   approach that achieves global consistency by
                   utilizing publicly accessible aerial photographs as
                   prior information.  Our approach inserts
                   correspondences found between three-dimensional
                   laser range scans and the aerial image as
                   constraints into a graph-based formulation of the
                   SLAM problem.  We evaluate our algorithm based on
                   large real-world datasets acquired in a mixed in-
                   and outdoor environment by comparing the global
                   accuracy with state-of-the-art SLAM approaches and
                   GPS.  The experimental results demonstrate that the
                   maps acquired with our method show increased global
                   consistency.}
}
@inproceedings{kuemmerle09icra,
  author = {R. K{\"u}mmerle and D. H{\"a}hnel and D. Dolgov and S. Thrun and W. Burgard},
  title = {Autonomous Driving in a Multi-level Parking Structure},
  booktitle = {Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA)},
  pages = {3395--3400},
  year = 2009,
  month = may,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/kuemmerle09icra.pdf},
  downloads = {http://ais.informatik.uni-freiburg.de/~kuemmerl/data/stanford-parking-garage-autonomous-double.avi_Xvid_Avi_(9_MB); http://ais.informatik.uni-freiburg.de/~kuemmerl/data/stanford-parking-garage-autonomous-double.wmv_WMV_(11_MB)},
  downloads = {http://ais.informatik.uni-freiburg.de/~kuemmerl/data/stanford-parking-garage-autonomous-double.avi_Xvid_Avi_(9_MB); http://ais.informatik.uni-freiburg.de/~kuemmerl/data/stanford-parking-garage-autonomous-double.wmv_WMV_(11_MB)},
  address = {Kobe, Japan},
  abstract = {Recently, the problem of autonomous navigation of
                   automobiles has gained substantial interest in the
                   robotics community.  Especially during the two
                   recent DARPA grand challenges, autonomous cars have
                   been shown to robustly navigate over extended
                   periods of time through complex desert courses or
                   through dynamic urban traffic environments.  In
                   these tasks, the robots typically relied on GPS
                   traces to follow pre-defined trajectories so that
                   only local planners were required.  In this paper,
                   we present an approach for autonomous navigation of
                   cars in indoor structures such as parking garages.
                   Our approach utilizes multi-level surface maps of
                   the corresponding environments to calculate the
                   path of the vehicle and to localize it based on
                   laser data in the absence of sufficiently accurate
                   GPS information.  It furthermore utilizes a local
                   path planner for controlling the vehicle.  In a
                   practical experiment carried out with an autonomous
                   car in a real parking garage we demonstrate that
                   our approach allows the car to autonomously park
                   itself in a large-scale multi-level structure.}
}
@inproceedings{lau09icra,
  author = {Boris Lau and Kai O. Arras and Wolfram Burgard},
  title = {Tracking Groups of People with a Multi-Model Hypothesis Tracker},
  booktitle = {International Conference on Robotics and Automation (ICRA)},
  year = 2009,
  doi = {10.1109/ROBOT.2009.5152731},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/lau09icra.pdf},
  address = {Kobe, Japan}
}
@inproceedings{lau09iros,
  author = {Boris Lau and Christoph Sprunk and Wolfram Burgard},
  title = {Kinodynamic Motion Planning for Mobile Robots Using Splines},
  booktitle = {IEEE Intl. Conf. on Intelligent Robots and Systems (IROS)},
  year = 2009,
  month = oct,
  doi = {10.1109/IROS.2009.5354805},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/lau09iros.pdf},
  address = {St. Louis, MO, USA}
}
@inproceedings{meyer-delius09iros,
  author = {D. Meyer-Delius and J. Sturm and W. Burgard},
  title = {Regression-Based Online Situation Recognition for Vehicular Traffic Scenarios},
  booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year = 2009,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/meyerdelius09iros.pdf},
  address = {St. Louis, USA}
}
@inproceedings{meyer-delius09icra,
  author = {D. Meyer-Delius and C. Plagemann and W. Burgard},
  title = {Probabilistic Situation Recognition for Vehicular Traffic Scenarios},
  booktitle = {Proc.~of the IEEE International Conference on Robotics and Automation (ICRA)},
  year = 2009,
  address = {Kobe, Japan}
}
@inproceedings{mueller09icra,
  author = {M\"{u}ller, J. and Rottmann, A. and Reindl, L.M. and Burgard, W.},
  title = {A Probabilistic Sonar Sensor Model for Robust Localization of a Small-size Blimp in Indoor Environments using a Particle Filter},
  booktitle = {Proceedings of the IEEE International Conference on Robotics \& Automation (ICRA)},
  pages = {3589--3594},
  year = 2009,
  month = may,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/mueller09icra.pdf},
  address = {Kobe, Japan}
}
@inproceedings{meyerdelius09icra,
  author = {Daniel Meyer-Delius and Christian Plagemann and Wolfram Burgard},
  title = {Probabilistic Situation Recognition and its Application to Vehicular Traffic Situations},
  booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
  year = 2009,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/meyerdelius09icra.pdf},
  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},
  address = {Kobe, Japan}
}
@inproceedings{rottmann09icra,
  author = {Rottmann, A. and Burgard, W.},
  title = {Adaptive autonomous control using online value iteration with {G}aussian processes},
  booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
  pages = {2106--2111},
  year = 2009,
  doi = {10.1109/ROBOT.2009.5152660}
}
@inproceedings{ruhnke09icra,
  author = {Ruhnke, M. and Steder, B. and Grisetti, G. and Burgard, W},
  title = {Unsupervised Learning of 3D Object Models from Partial Views},
  booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
  year = 2009,
  doi = {10.1109/ROBOT.2009.5152524},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/ruhnke09icra.pdf},
  address = {Kobe, Japan}
}
@phdthesis{stachniss09habil,
  author = {C. Stachniss},
  title = {Spatial Modeling and Robot Navigation},
  school = {University of Freiburg, Department of Computer Science},
  year = 2009,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/stachniss-habil.pdf}
}
@article{grisetti09its,
  author = {Grisetti, G. and Stachniss, C.  and Burgard, W.},
  title = {Non-linear Constraint Network Optimization for Efficient Map Learning},
  journal = {IEEE Transactions on Intelligent Transportation Systems},
  volume = {10},
  number = {3},
  pages = {428--439},
  year = 2009,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/grisetti09its.pdf}
}
@inproceedings{schneider09iros,
  author = {A. Schneider and J. Sturm  C. Stachniss and M. Reisert and H. Burkhardt and W. Burgard},
  title = {Object Identification with Tactile Sensors Using Bag-of-Features},
  booktitle = {Proc.~of the IEEE/RSJ Int.~Conf.~on Intelligent Robots and Systems (IROS)},
  year = 2009,
  doi = {10.1109/IROS.2009.5354648},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/wurm09iros.pdf}
}
@inproceedings{endres09rss,
  author = {F. Endres and C. Plagemann  and  Stachniss, C.  and  Burgard, W.},
  title = {Scene Analysis using Latent Dirichlet Allocation},
  booktitle = {Proc.~of Robotics: Science and Systems (RSS)},
  year = 2009,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/endres09rss-draft.pdf},
  address = {Seattle, WA, USA}
}
@inproceedings{endres09rssws,
  author = {Endres, F. and Hess, J. and Franklin, N. and Plagemann, C. and Stachniss, C. and Burgard, W.},
  title = {Estimating Range Information from Monocular Vision},
  booktitle = {Workshop Regression in Robotics - Approaches and Applications at Robotics: Science and Systems (RSS)},
  year = 2009,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/endres09rsswsposter.pdf},
  address = {Seattle, WA, USA}
}
@inproceedings{sturm09ijcai,
  author = {J. Sturm   and V. Predeap and  Stachniss, C. and C. Plagemann  and K. Konolige and  Burgard, W.},
  title = {Learning  Kinematic Models for Articulated Objects},
  booktitle = {Proc.~of the Int.~Conf.~on Artificial Intelligence (IJCAI)},
  year = 2009,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/sturm09ijcai.pdf},
  address = {Pasadena, CA, USA}
}
@inproceedings{sturm09snowbird,
  author = {J. Sturm and  Stachniss, C.  and V. Predeap and C. Plagemann  and K. Konolige and  Burgard, W.},
  title = {Learning  Kinematic Models for Articulated Objects},
  booktitle = {Online Proc. of the Learning Workshop (Snowbird)},
  year = 2009,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/sturm09snowbird.pdf},
  address = {Clearwater, FL, USA}
}
@article{stachniss09auro,
  author = {Stachniss, C. and Plagemann, C. and Lilienthal, A.J.},
  title = {Gas Distribution Modeling using Sparse Gaussian Process Mixtures},
  journal = {Autonomous Robots},
  volume = {26},
  pages = {187ff},
  year = 2009,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/stachniss09auro.pdf},
  issue = {2}
}
@book{stachniss09springerbook,
  author = {C. Stachniss},
  title = {Robotic Mapping and Exploration},
  volume = {55},
  year = 2009,
  isbn = {978-3-642-01096-5},
  publisher = {Springer},
  series = {STAR Springer tracts in advanced robotics}
}
@inproceedings{strasdat09icra,
  author = {H. Strasdat and  Stachniss, C. and Burgard, W.},
  title = {Which Landmark is Useful? Learning Selection Policies for Navigation in Unknown Environments},
  booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
  year = 2009,
  doi = {10.1109/ROBOT.2009.5152207},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/strasdat09icra.pdf},
  address = {Kobe, Japan}
}
@inproceedings{frank09icra,
  author = {B. Frank and C. Stachniss and R. Schmedding  and  W. Burgard and M. Teschner},
  title = {Real-world Robot Navigation amongst Deformable Obstacles},
  booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
  year = 2009,
  doi = {10.1109/ROBOT.2009.5152275},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/frank09icra.pdf},
  address = {Kobe, Japan}
}
@inproceedings{steder09iros,
  author = {Steder, B. and Grisetti, G. and Van Loock, M. and Burgard, W.},
  title = {Robust On-line Model-based Object Detection from Range Images},
  booktitle = {Proc. of the {IEEE/RSJ} Int. Conf. on Intelligent Robots and Systems (IROS)},
  year = 2009,
  month = oct,
  doi = {10.1109/IROS.2009.5354400},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/steder09iros.pdf},
  address = {St. Louis, MO, USA}
}
@inproceedings{schulz09gwr,
  author = {H. Schulz and L. Ott and J. Sturm and W. Burgard},
  title = {Learning Kinematics from Direct Self- Observation Using Nearest-Neighbor Methods},
  booktitle = {Proc.~of the German Workshop on Robotics},
  year = 2009,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/schulz09gwr.pdf}
}
@inproceedings{sturm09rssws,
  author = {J. Sturm and C. Stachniss and V. Pradeep and C. Plagemann and K. Konolige and W. Burgard},
  title = {Towards Understanding Articulated Objects},
  booktitle = {Proc.~of the Workshop on Robot Manipulation at Robotics: Science and Systems Conference (RSS)},
  year = 2009,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/sturm09rss-manip.pdf},
  address = {Seattle, WA, USA}
}
@article{sturm09jp,
  author = {J. Sturm and C. Plagemann and W. Burgard},
  title = {Body schema learning for robotic manipulators from visual self-perception},
  journal = {Journal of Physiology-Paris},
  volume = {103},
  number = {3-5},
  pages = {220--231},
  year = 2009,
  doi = {DOI: 10.1016/j.jphysparis.2009.08.005},
  url = {http://www.sciencedirect.com/science/article/B6VMC-4WY6JVM-D/2/0aaabe9b7dc9628c8c818fa87c8b56e9},
  issn = {0928-4257},
  note = {Neurorobotics}
}
@phdthesis{mozos2008phd,
  author = {Oscar Martinez Mozos},
  title = {Semantic Place Labeling with Mobile Robots},
  school = {University of Freiburg},
  year = 2008,
  month = jul,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/mozos2008phd.pdf},
  category = {thesis},
  address = {Freiburg, Germany}
}
@article{zender2008ras,
  author = {Hendrik Zender and Oscar Martinez Mozos and Patric Jensfelt and  Geert-Jan M. Kruijff and Wolfram Burgard},
  title = {Conceptual Spatial Representations for Indoor Mobile Robots},
  journal = {Robotics and Autonomous Systems},
  volume = {56},
  number = {6},
  pages = {493--502},
  year = 2008,
  month = jun,
  doi = {10.1016/j.robot.2008.03.007},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/zender2008ras.pdf},
  category = {journal},
  publisher = {Elsevier},
  jcr = {0.832 (2006)},
  issn = {0921-8890},
  position = {4/12 ROBOTICS (2006)}
}
@article{stachniss09amai,
  author = {Cyrill Stachniss and Oscar Martinez Mozos and Wolfram Burgard},
  title = {Efficient Exploration of Unknown Indoor Environments using a Team of Mobile Robots},
  journal = {Annals of Mathematics and Artificial Intelligence},
  volume = {52},
  pages = {205ff},
  year = 2008,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/stachniss09amai.pdf},
  category = {journal},
  jcr = {0.756 (2007)},
  issn = {1012-2443},
  note = {To appear},
  issue = {2}
}
@inproceedings{pronobis2008icra,
  author = {Pronobis, A. and Martinez Mozos, O. and Caputo, B.},
  title = {{SVM}-based Discriminative Accumulation Scheme for Place Recognition},
  booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation},
  pages = {522--529},
  year = 2008,
  month = may,
  doi = {10.1109/ROBOT.2008.4543260},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/pronobis2008icra.pdf},
  category = {conference},
  isbn = {978-1-4244-1647-9},
  issn = {1050-4729},
  address = {Pasadena, CA, USA}
}
@inbook{triebel2007gfkl_b,
  author = {Triebel, R. and Mozos, O.M. and Burgard, W.},
  title = {Studies in Classification, Data Analysis, and Knowledge Organization},
  pages = {293--300},
  year = 2008,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/triebel2007gfkl_book.pdf},
  category = {book_chapter},
  publisher = {Springer-Verlag},
  editor = {C. Preisach, H. Burkhardt, L.Schmidt-Thieme,
                   R.Decker},
  chapter = {Relational Learning in Mobile Robotics: An
                   Application to Semantic Labeling of Objects in {2D}
                   and {3D} Environment Maps}
}
@inproceedings{axenbeck08humanoids,
  author = {T. Axenbeck and M. Bennewitz and S. Behnke and W. Burgard},
  title = {Recognizing Complex, Parameterized Gestures from Monocular Image Sequences},
  booktitle = {Proc.~of the IEEE-RAS International Conference on Humanoid Robots (Humanoids)},
  year = 2008,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/axenbeck08humanoids.pdf}
}
@inproceedings{stachniss08icra,
  author = {Stachniss, C. and Bennewitz, M. and Grisetti, G. and Behnke, S. and Burgard, W.},
  title = {How to Learn Accurate Grid Maps with a Humanoid},
  booktitle = {Proc.~of the IEEE International Conference on Robotics \& Automation (ICRA)},
  year = 2008,
  doi = {10.1109/ROBOT.2008.4543697},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/stachniss08icra.pdf},
  address = {Pasadena, CA, USA}
}
@inproceedings{bennewitz08rssws,
  author = {M. Bennewitz and T. Axenbeck and S. Behnke and W. Burgard},
  title = {Robust Recognition of Complex Gestures for Natural Human-Robot Interaction},
  booktitle = {Proc. of the Workshop on Interactive Robot Learning at Robotics: Science and Systems Conference (RSS)},
  year = 2008
}
@inproceedings{grzonka08simpar,
  author = {Grzonka, S. and Grisetti, G. and Burgard, W.},
  title = {Autonomous Indoors Navigation using a Small- Size Quadrotor},
  booktitle = {Workshop Proc. of Intl. Conf. on Simulation, Modeling and Programming for Autonomous Robots (SIMPAR)},
  year = 2008,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/grzonka08simpar.pdf},
  address = {Venice, Italy}
}
@inproceedings{grzonka08iros,
  author = {Grzonka, S. and Bouabdallah, S. and Grisetti, G. and Burgard, W. and Siegwart, R.},
  title = {Towards a Fully Autonomous Indoor Helicopter},
  booktitle = {Workshop of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year = 2008,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/grzonka08irosWS.pdf},
  address = {Nice, France}
}
@inproceedings{arras08icra,
  author = {Arras, K. and Grzonka, S. and Luber, M. and Burgard, W.},
  title = {Efficient People Tracking in Laser Range Data using a Multi-Hypothesis Leg-Tracker with Adaptive Occlusion Probabilities},
  booktitle = {Proc. IEEE International Conference on Robotics and Automation (ICRA)},
  year = 2008,
  doi = {10.1109/ROBOT.2008.4543447},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/arras08icra.pdf},
  address = {Pasadena, CA, USA}
}
@inproceedings{steder08visapp,
  author = {Steder, B. and Grisetti, G. and Grzonka, S. and Stachniss, C. and Burgard, W.},
  title = {Estimating Consistent Elevation Maps using Down-Looking Cameras and Inertial Sensors},
  booktitle = {Proc. of the Workshop on Robotic Perception on the International Conference on Computer Vision Theory and Applications},
  year = 2008,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/steder08visapp.pdf},
  address = {Funchal, Madeira, Portugal}
}
@inproceedings{kretzschmar08iros,
  author = {Henrik Kretzschmar and Cyrill Stachniss and Christian Plagemann and Wolfram Burgard},
  title = {Estimating Landmark Locations from Geo- Referenced Photographs},
  booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages = {2902--2907},
  year = 2008,
  doi = {10.1109/IROS.2008.4650855},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/kretzschmar08iros.pdf},
  optpdfurl = {http://ais.informatik.uni-freiburg.de/publications/papers/.pdf},
  address = {Nice, France},
  abstract = {}
}
@article{kuemmerle08jfr,
  author = {K{\"u}mmerle, R. and Triebel, R. and Pfaff, P. and Burgard, W.},
  title = {Monte Carlo Localization in Outdoor Terrains using Multilevel Surface Maps},
  journal = {Journal of Field Robotics (JFR)},
  volume = {25},
  pages = {346--359},
  year = 2008,
  month = {June - July},
  doi = {10.1002/rob.20245},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/kuemmerle08jfr.pdf},
  downloads = {http://ais.informatik.uni-freiburg.de/~kuemmerl/data/movie_sbahn.avi_Xvid_Avi_(15_MB); http://ais.informatik.uni-freiburg.de/~kuemmerl/data/movie-79er.avi_Xvid_Avi_(19_MB)},
  downloads = {http://ais.informatik.uni-freiburg.de/~kuemmerl/data/movie_sbahn.avi_Xvid_Avi_(15_MB); http://ais.informatik.uni-freiburg.de/~kuemmerl/data/movie-79er.avi_Xvid_Avi_(19_MB)},
  abstract = {We propose a novel combination of techniques for
                   robustly estimating the position of a mobile robot
                   in outdoor environments using range data. Our
                   approach applies a particle filter to estimate the
                   full six-dimensional state of the robot and
                   utilizes multilevel surface maps, which, in
                   contrast to standard elevation maps, allow the
                   robot to represent vertical structures and multiple
                   levels in the environment. We describe
                   probabilistic motion and sensor models to calculate
                   the proposal distribution and to evaluate the
                   likelihood of observations. We furthermore describe
                   an active localization approach that actively
                   selects the sensor orientation of the two-
                   dimensional laser range scanner to improve the
                   localization results. To efficiently calculate the
                   appropriate orientation, we apply a clustering
                   operation on the particles and evaluate potential
                   orientations on the basis of these clusters.
                   Experimental results obtained with a mobile robot
                   in large-scale outdoor environments indicate that
                   our approach yields robust and accurate position
                   estimates. The experiments also demonstrate that
                   multilevel surface maps lead to a significantly
                   better localization performance than standard
                   elevation maps. They additionally show that further
                   accuracy is obtained from the active sensing
                   approach.}
}
@inproceedings{mueller08cogsys,
  author = {M\"{u}ller, J. and Stachniss, C. and Arras, K.O. and Burgard, W.},
  title = {Socially Inspired Motion Planning for Mobile Robots in Populated Environments},
  booktitle = {Proceedings of the International Conference on Cognitive Systems (CogSys)},
  pages = {85--90},
  year = 2008,
  month = apr,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/mueller08cogsys.pdf},
  address = {Karlsruhe, Germany}
}
@inproceedings{pfaff08icra,
  author = {Patrick Pfaff and Christian Plagemann and Wolfram Burgard},
  title = {Gaussian Mixture Models for Probabilistic Localization},
  booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
  year = 2008,
  doi = {10.1109/ROBOT.2008.4543251},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/pfaff08icra.pdf},
  abstract = {Range sensors have become popular for mobile robot
                   localization since they directly measure the
                   geometry of the local environment. In situations in
                   which the robot operates close to obstacles or in
                   highly cluttered environments, however, small
                   changes in the pose of the robot can lead to
                   completely different geometries measured by the
                   range sensor. The resulting enormous variances in
                   the likelihood of observations can lead to major
                   problems in probabilistic approaches such as Monte
                   Carlo localization as important hypotheses or
                   particles might get lost which substantially
                   decreases the robustness of such approaches. A
                   common solution is to artificially smooth the
                   likelihood function or to only integrate a small
                   fraction of the measurements. In this paper we
                   present a more fundamental and robust approach
                   which models the likelihood function for single
                   range measurements as a mixture of Gaussians. In
                   practical experiments we compare our approach to
                   previous methods and demonstrate that it provides a
                   substantially more robust localization.},
  note = {to appear},
  address = {Pasadena, CA, USA}
}
@inproceedings{pfaff08iros,
  author = {P. Pfaff and C. Stachniss and C. Plagemann and W. Burgard},
  title = {Efficiently Learning High-dimensional Observation Models for Monte-Carlo Localization using Gaussian Mixtures},
  booktitle = {Proc.~of the IEEE/RSJ Int.~Conf.~on Intelligent Robots and Systems (IROS)},
  year = 2008,
  doi = {10.1109/IROS.2008.4650711},
  url = {http://ais.informatik.uni-freiburg.de/~stachnis/pdf/pfaff08iros.pdf},
  address = {Nice, France},
  abstract = {Whereas probabilistic approaches are a powerful
                   tool for mobile robot localization, they heavily
                   rely on the proper definition of the so-called
                   observation model which defines the likelihood of
                   an observation given the position and orientation
                   of the robot and the map of the environment. Most
                   of the sensor models for range sensors proposed in
                   the past either consider the individual beam
                   measurements independently or apply uni-modal
                   models to represent the likelihood function. In
                   this paper we present an approach that learns
                   place-dependent sensor models for entire range
                   scans using Gaussian mixture models. To deal with
                   the high dimensionality of the measurement space,
                   we utilize principle component analysis for
                   dimensionality reduction. In practical experiments
                   carried out with data obtained from a real robot we
                   demonstrate that our model substantially
                   outperforms existing and popular sensor models.}
}
@phdthesis{plagemann08phd,
  author = {Plagemann, C.},
  title = {Gaussian Processes for Flexible Robot Learning},
  school = {University of Freiburg, Department of Computer Science},
  year = 2008,
  month = dec,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/plagemann08phd.pdf}
}
@inproceedings{plagemann08ecml,
  author = {Plagemann, C. and Kersting, K. and Burgard, W.},
  title = {Nonstationary Gaussian Process Regression using Point Estimates of Local Smoothness},
  booktitle = {Proc.~of the European Conference on Machine Learning (ECML)},
  year = 2008,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/plagemann08ecml.pdf},
  address = {Antwerp, Belgium},
  abstract = {Gaussian processes using nonstationary covariance
                   functions are a powerful tool for Bayesian
                   regression with input-dependent smoothness. A
                   common approach is to model the local smoothness by
                   a latent process that is integrated over using
                   Markov chain Monte Carlo approaches. In this paper,
                   we demonstrate that an approximation that uses the
                   estimated mean of the local smoothness yields good
                   results and allows one to employ efficient
                   gradient- based optimization techniques for jointly
                   learning the parameters of the latent and the
                   observed processes. Extensive experiments on both
                   synthetic and real-world data, including
                   challenging problems in robotics, show the
                   relevance and feasibility of our approach.}
}
@proceedings{burgard08ias,
  title = {Proc. of the 10th International Conference on Intelligent Autonomous Systems, Baden-Baden, Germany, July 23-25, 2008},
  booktitle = {IAS},
  year = 2008,
  isbn = {978-1-58603-887-8},
  publisher = {IOS Press},
  editor = {Burgard, W. and Dillmann, R. and Plagemann, C. and
                   Vahrenkamp, N.}
}
@inproceedings{plagemann08iros,
  author = {Plagemann, C. and Mischke, S. and Prentice, S. and Kersting, K. and Roy, N. and Burgard, W.},
  title = {Learning Predictive Terrain Models for Legged Robot Locomotion},
  booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year = 2008,
  doi = {10.1109/IROS.2008.4651026},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/plagemann08iros.pdf},
  address = {Nice, France},
  abstract = {Legged robots require the ability to build
                   accurate models of their environment in order to
                   plan and execute their actions. We present a novel,
                   probabilistic terrain model based on Gaussian
                   processes that can be learned and updated
                   efficiently using sparse approximation techniques.
                   The major benefit of our model is its ability to
                   predict elevations at unseen locations more
                   reliably than alternative approaches, while it also
                   yields estimates of the predictive uncertainties.
                   In particular, our Gaussian process adapts its
                   covariance to the situation at hand, allowing more
                   accurate inference of terrain height at points that
                   have not been directly observed. We show how a
                   conventional motion planner can use the learned
                   terrain model to to plan a path to a goal location,
                   using a terrain-specific cost model to accept or
                   reject candidate footholds. In experiments with a
                   real quadruped robot equipped with a laser range
                   finder, we demonstrate the usefulness of our
                   approach and discuss its benefits compared to
                   simpler terrain models such as elevations grids.}
}
@inproceedings{stachniss08rss,
  author = {Stachniss, C. and Plagemann, C. and Lilienthal, A. and Burgard, W.},
  title = {Gas Distribution Modeling Using Sparse Gaussian Process Mixture Models},
  booktitle = {Robotics: Science and Systems (RSS)},
  year = 2008,
  month = jun,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/stachniss08rss.pdf},
  optpdfurl = {http://ais.informatik.uni-freiburg.de/publications/papers/stachniss08rss.pdf},
  optabstract = {},
  note = {To appear},
  address = {Zurich, Switzerland}
}
@inproceedings{luber08rss,
  author = {Luber, M. and Arras, K. and Plagemann, C. and Burgard, W.},
  title = {Tracking and Classification of Dynamic Objects: An Unsupervised Learning Approach},
  booktitle = {Robotics: Science and Systems (RSS)},
  year = 2008,
  month = jun,
  optabstract = {},
  address = {Zurich, Switzerland}
}
@inproceedings{reiser08robotik,
  author = {Reiser, U. and Mies, C. and Plagemann, C.},
  title = {Verteilte Software-Entwicklung in der Robotik - ein Integrations- und Testframework},
  booktitle = {Robotik},
  year = 2008,
  abstract = {Eine der grten Herausforderungen innerhalb der
                   Robotik ist die Integration vieler, komplexer
                   Hardware- und Softwarekomponenten zu einem robust
                   funktionierenden Gesamtsystem. Neben den
                   zahlreichen wissenschaftlichen Fragestellungen, die
                   auf Systemebene zu lsen sind, hngt der
                   Integrationserfolg insbesondere von der Lsung
                   praktischer Probleme wie dem Zusammenspiel vieler
                   Entwicklungspartner und der typischerweise stark
                   limitierten Verfgbarkeit von Einzelkomponenten ab.
                   Leistungsfhige Hardwarekomponenten, wie
                   beispielsweise Mehrfingergreifer und Leichtbauarme,
                   sind in der Regel Spezialanfertigungen und stehen
                   daher nur wenigen Partnern innerhalb von Projekten
                   zur Verfgung. In diesem Beitrag wird ein neues
                   Integrations- und Testframework zur rumlich
                   verteilten Forschung und Entwicklung an solchen
                   Komponenten und integrierten Systemen vorgestellt.
                   Entwickler knnen hierbei Beitrge zu einer
                   Technologieplattform leisten, ohne stndigen,
                   direkten Zugang zur Hardware besitzen zu mssen.},
  optmonth = {},
  note = {In German},
  address = {Munich, Germany}
}
@inproceedings{plagemann08icra,
  author = {Plagemann, C. and Endres, F. and Hess, J. and Stachniss, C. and Burgard, W.},
  title = {Monocular Range Sensing: A Non-Parametric Learning Approach},
  booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
  year = 2008,
  doi = {10.1109/ROBOT.2008.4543324},
  url = {http://ais.informatik.uni-freiburg.de/~stachnis/pdf/plagemann08icra.pdf},
  address = {Pasadena, CA, USA},
  abstract = {For many applications, mobile robots need to
                   estimate the geometry of their local surrounding
                   area.  To do so, proximity sensor such as laser
                   range finders or sonars are typically employed.
                   Cameras are a cheap and lightweight alternative to
                   such sensors, but do not offer proximity
                   information directly.  In this paper, we present a
                   novel approach to learning the relationship between
                   range measurements and visual features extracted
                   from a single monocular camera image.  As the
                   learning engine, we apply Gaussian processes, a
                   non- parametric learning technique that not only
                   yields the most likely range prediction
                   corresponding to a certain visual input but also
                   the predictive uncertainty.  This information, in
                   turn, can be utilized in an extended grid-based
                   mapping scheme to update a model of the environment
                   more gently where the predictions are unreliable.
                   In practical experiments carried out with a mobile
                   robot equipped with an omnidirectional camera
                   system in different environments, we show that our
                   system is able to predict range scans accurate
                   enough to construct maps of the environment.}
}
@inproceedings{wurm08iros,
  author = {K.M. Wurm and Stachniss, C. and W. Burgard},
  title = {Coordinated  Multi-Robot Exploration using a Segmentation of the Environment},
  booktitle = {Proc.~of the IEEE/RSJ Int.~Conf.~on Intelligent Robots and Systems (IROS)},
  year = 2008,
  month = sep,
  doi = {10.1109/IROS.2008.4650734},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/wurm08iros.pdf},
  address = {Nice, France}
}
@inproceedings{grisetti08icra,
  author = {Grisetti, G. and Lordi Rizzini, D. and Stachniss, C. and Olson, E. and Burgard, W.},
  title = {Online Constraint Network Optimization for Efficient Maximum Likelihood Map Learning},
  booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
  year = 2008,
  doi = {10.1109/ROBOT.2008.4543481},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/grisetti08icra.pdf},
  address = {Pasadena, CA, USA}
}
@inproceedings{frank08icra,
  author = {Frank, B. and Becker, M. and Stachniss, C. and Teschner, M. and Burgard, W.},
  title = {Efficient Path Planning for Mobile Robots in Environments with Deformable Objects},
  booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
  year = 2008,
  doi = {10.1109/ROBOT.2008.4543784},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/frank08icra.pdf},
  address = {Pasadena, CA, USA}
}
@inproceedings{frank08icraws,
  author = {Frank, B. and Becker, M. and Stachniss, C. and Teschner, M. and Burgard, W.},
  title = {Learning Cost Functions for Mobile Robot Navigation in Environments with Deformable Objects},
  booktitle = {Workshop on Path Planning on Cost Maps at the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
  year = 2008,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/frank08icraws.pdf},
  address = {Pasadena, CA, USA}
}
@inproceedings{steder08visappws,
  author = {Steder, B. and Grisetti, G. and Stachniss, C. and  Burgard, W.},
  title = {Learning Visual Maps using Cameras and Inertial Sensors},
  booktitle = {Workshop on Robotic Perception, International Conference on Computer Vision Theory and Applications},
  year = 2008,
  note = {To appear},
  address = {Funchal, Madeira, Portugal}
}
@book{rss07proceedings,
  title = {Robotics: Science and Systems III},
  year = 2008,
  month = mar,
  isbn = {0262524848},
  publisher = {MIT Press},
  editor = {Burgard, W. and Brock, O. and Stachniss, C.},
  note = {In press}
}
@article{steder08tro,
  author = {Steder, B. and Grisetti, G. and Stachniss, C. and Burgard, W.},
  title = {Visual {SLAM} for Flying Vehicles},
  journal = {{IEEE} Transactions on Robotics},
  volume = {24},
  number = {5},
  pages = {1088--1093},
  year = 2008,
  month = nov,
  doi = {10.1109/TRO.2008.2004521},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/steder08tro.pdf}
}
@inproceedings{sturm08icra,
  author = {J. Sturm and C. Plagemann and W. Burgard},
  title = {Unsupervised Body Scheme Learning through Self- Perception},
  booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
  pages = {3328--3333},
  year = 2008,
  doi = {10.1109/ROBOT.2008.4543718},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/sturm08icra.pdf},
  address = {Pasadena, CA, USA}
}
@inproceedings{sturm08rss,
  author = {J. Sturm and C. Plagemann and W. Burgard},
  title = {Adaptive Body Scheme Models for Robust Robotic Manipulation},
  booktitle = {Robotics: Science and Systems (RSS)},
  year = 2008,
  month = jun,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/sturm08rss.pdf},
  address = {Zurich, Switzerland}
}
@inproceedings{sturm08rss-workshop,
  author = {J. Sturm and C. Plagemann and W. Burgard},
  title = {Body Scheme Learning and Life-Long Adaptation for Robotic Manipulation},
  booktitle = {Proceedings of the Workshop on Robot Manipulation at Robotics: Science and Systems Conference (RSS)},
  year = 2008,
  month = jun,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/sturm08rss-workshop.pdf},
  address = {Zurich, Switzerland}
}
@inproceedings{mozos2007iros_workshop,
  author = {Oscar Martinez Mozos and Patric Jensfelt and Hendrik Zender and Geert-Jan M. Kruijff and Wolfram Burgard},
  title = {From Labels to Semantics: An Integrated System for Conceptual  Spatial Representations of Indoor Environments for Mobile Robots},
  booktitle = {Proceedings of the IEEE/RSJ IROS 2007 Workshop: Semantic information in robotics},
  year = 2007,
  url = {http://www2.informatik.uni-freiburg.de/~omartine/publications/mozos2007iros_workshop.html},
  googlevideo = {http://www2.informatik.uni-freiburg.de/~omartine/publications/mozos2007iros_workshop.html#video},
  category = {workshop},
  address = {San Diego, CA, USA}
}
@article{stachniss07it,
  author = {Cyrill Stachniss and Giorgio Grisetti and Oscar Martinez Mozos and Wolfram Burgard},
  title = {Efficiently Learning Metric and Topological Maps with Autonomous Service Robots},
  journal = {it--Information Technology},
  volume = {49},
  number = {4},
  pages = {232--237},
  year = 2007,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/stachniss2007it.pdf},
  category = {journal},
  issn = {1611--2776},
  editor = {Buss, M. and Lawitzki, G.},
  journallink = {http://it-information-technology.de/}
}
@inproceedings{zender2007aaai,
  author = {Hendrik Zender and Patric Jensfelt and Oscar Martinez Mozos and Geert-Jan M. Kruijff and Wolfram Burgard},
  title = {An Integrated Robotic System for Spatial Understanding and Situated Interaction in Indoor Environments},
  booktitle = {Proceedings of the Conference on Artificial Intelligence},
  year = 2007,
  url = {http://www2.informatik.uni-freiburg.de/~omartine/publications/zender2007aaai.html},
  googlevideo = {http://www2.informatik.uni-freiburg.de/~omartine/publications/zender2007aaai.html#video},
  category = {conference},
  address = {Vancouver, British Columbia, Canada}
}
@inproceedings{triebel2007gfkl,
  author = {Rudolph Triebel and Oscar Martinez Mozos and Wolfram Burgard},
  title = {Relational Learning in Mobile Robotics: An Application to Semantic Labeling of Objects in {2D} and {3D} Environment Maps},
  booktitle = {Annual Conference of the German Classification Society on Data Analysis, Machine Learning, and Applications},
  year = 2007,
  category = {conference},
  address = {Freiburg, Germany}
}
@inproceedings{mozos2007icra_workshop,
  author = {Oscar Martinez Mozos and Patric Jensfelt and Hendrik Zender and Geert-Jan M. Kruijff and Wolfram Burgard},
  title = {From Labels to Semantics: An Integrated System for Conceptual  Spatial Representations of Indoor Environments for Mobile Robots},
  booktitle = {Proceedings of the IEEE ICRA Workshop: Semantic information in robotics},
  pages = {33--40},
  year = 2007,
  url = {http://ais.informatik.uni-freiburg.de/~omartine/publications/mozos2007icra_workshop.html},
  googlevideo = {http://ais.informatik.uni-freiburg.de/~omartine/publications/mozos2007icra_workshop.html#video},
  category = {workshop}
}
@inproceedings{arras2007icra,
  author = {Kai O. Arras and Oscar Martinez Mozos and Wolfram Burgard},
  title = {Using Boosted Features for the Detection of People in {2D} Range Data},
  booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation},
  pages = {3402--3407},
  year = 2007,
  doi = {10.1109/ROBOT.2007.363998},
  url = {http://ais.informatik.uni-freiburg.de/~omartine/publications/arras2007icra.html},
  video = {http://ais.informatik.uni-freiburg.de/~omartine/multimedia/AdaBoostOffice.avi},
  category = {conference}
}
@article{mozos2007ras,
  author = {Oscar Martinez Mozos and Rudolph Triebel and Patric Jensfelt and Axel Rottmann and Wolfram Burgard},
  title = {Supervised semantic labeling of places using information extracted from sensor data},
  journal = {Robotics and Autonomous Systems},
  volume = {55},
  number = {5},
  pages = {391--402},
  year = 2007,
  month = may,
  url = {http://ais.informatik.uni-freiburg.de/~rottmann/publication/mozos07ras.pdf},
  category = {journal},
  jcr = {(0.832 2006)},
  position = {4/12 ROBOTICS (2006)}
}
@inproceedings{triebel2007ijcai,
  author = {Rudolph Triebel and Richard Schmidt and Oscar Martinez Mozos and Wolfram Burgard},
  title = {Instace-based AMN Classification for Improved Object Recognition in 2D and 3D Laser Range Data},
  booktitle = {Proceedings of the International Joint Conference on Artificial Intelligence},
  pages = {2225--2230},
  year = 2007,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/triebel2007ijcai.pdf},
  category = {conference},
  address = {Hyderabad, India}
}
@inbook{mozos2007star,
  author = {Oscar Martinez Mozos and Cyrill Stachniss and Axel Rottmann and Wolfram Burgard},
  title = {Robotics Research: Results of the 12th International Symposium ISRR.},
  volume = {28},
  pages = {453--472},
  year = 2007,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/mozos2007star.pdf},
  category = {book_chapter},
  publisher = {Springer-Verlag Berlin Heidelberg, Germany},
  series = {{STAR} Springer tracts in advanced robotics},
  editor = {Thrun, S. and Brooks, R. and Durrant-Whyte, H.},
  chapter = {Using AdaBoost for Place Labeling and Topological
                   Map Building.}
}
@inproceedings{strasdat07ams,
  author = {Strasdat, H. and Stachniss, C. and Bennewitz, M. and Burgard, W.},
  title = {Visual Bearing-Only Simultaneous Localization and Mapping with Improved Feature Matching},
  booktitle = {Proc.~of the Fachgespr{\"a}che Autonome Mobile Systeme (AMS)},
  year = 2007,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/strasdat07ams.pdf},
  address = {Kaiserslautern, Germany}
}
@inproceedings{grisetti07iros,
  author = {Grisetti, G. and Grzonka, S. and Stachniss, C. and Pfaff, P. and  Burgard, W.},
  title = {Efficient Estimation of Accurate Maximum Likelihood Maps in 3D},
  booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year = 2007,
  doi = {10.1109/IROS.2007.4399030},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/grisetti07iros.pdf},
  address = {San Diego, CA, USA}
}
@inproceedings{steder07iros,
  author = {Steder, S. and Grisetti, G. and Stachniss, C. and Grzonka, S. and Rottmann, A. and  Burgard, W.},
  title = {Learning Maps in 3D using Attitude and Noisy Vision Sensors},
  booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages = {644--649},
  year = 2007,
  doi = {10.1109/IROS.2007.4399414},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/steder07iros.pdf},
  address = {San Diego, CA, USA}
}
@inproceedings{grzonka07fsr,
  author = {Grzonka, S. and Plagemann, C. and Grisetti, G. and Burgard, W.},
  title = {Look-ahead Proposals for Robust Grid-based SLAM},
  booktitle = {Proc. of the International Conference on Field and Service Robotics (FSR)},
  year = 2007,
  month = jul,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/grzonka07fsr.pdf},
  address = {Chamonix, France},
  abstract = {Simultaneous Localization and Mapping (SLAM) is
                   one of the classical problems in mobile robotics.
                   The task is to build a map of the environment using
                   on-board sensors while at the same time localizing
                   the robot relative to this map. Rao-Blackwellized
                   particle filters have emerged as a powerful
                   technique for solving the SLAM problem in a wide
                   variety of environments. It is a well-known fact
                   for sampling-based approaches that the choice of
                   the proposal distribution greatly influences the
                   robustness and efficiency achievable by the
                   algorithm. In this paper, we present a
                   significantly improved proposal distribution for
                   grid-based SLAM, which utilizes whole sequences of
                   sensor measurements rather than only the most
                   recent one. We have implemented our system on a
                   real robot and evaluated its performance on
                   standard data sets as well as in hard outdoor
                   settings with few and ambiguous features. Our
                   approach improves the localization accuracy and the
                   map quality. At the same time, it substantially
                   reduces the risk of mapping failures.}
}
@inproceedings{grisetti07rss,
  author = {Grisetti, G. and  Stachniss, C. and Grzonka, S. and Burgard},
  title = {A Tree Parameterization for Efficiently Computing Maximum Likelihood Maps using Gradient Descent},
  booktitle = {Proc.~of Robotics: Science and Systems (RSS)},
  year = 2007,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/grisetti07rss.pdf},
  address = {Atlanta, GA, USA}
}
@inproceedings{pfaff07irosws,
  author = {Patrick Pfaff and Rainer K\"{u}mmerle and Dominik Joho and Cyrill Stachniss and Rudolph Triebel and Wolfram Burgard},
  title = {Navigation in Combined Outdoor and Indoor Environments using Multi-Level Surface Maps},
  booktitle = {Proc. of the Workshop on Safe Navigation in Open and Dynamic Environments at the {IEEE} Int. Conf. on Intelligent Robots and Systems {(IROS)}},
  year = 2007,
  month = oct,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/pfaff07irosws.pdf},
  address = {San Diego, CA, USA},
  abstract = {Whenever mobile robots are used in real world
                   applications, the ability to learn an accurate
                   model of the environment and to localize itself
                   based on such a model are important prerequisites
                   for reliable operation. Whereas these problems have
                   been successfully solved in the past for most
                   indoor tasks, in which the robot is assumed to
                   operate on a flat surface, such approaches are
                   likely to fail in combined indoor and outdoor
                   environments in which the three-dimensional
                   structure of the world needs to be considered. In
                   this paper, we consider the problem of localizing a
                   vehicle that operates in 3D indoor as well as
                   outdoor settings. Our approach is entirely
                   probabilistic and does not rely on GPS information.
                   It is based on so-called multi-level surface maps
                   which are an extension of the well- known elevation
                   maps. In addition to that, we present a technique
                   that allows the robot to actively explore the
                   environment. This algorithm applies a decision-
                   theoretic approach and considers the uncertainty in
                   the model to determine the next action to be
                   executed. In practical experiments, we illustrate
                   the properties as well as advantages of our
                   approach compared to other techniques.}
}
@inproceedings{joho07ams,
  author = {Dominik Joho and Cyrill Stachniss and Patrick Pfaff and Wolfram Burgard},
  title = {Autonomous Exploration for 3{D} Map Learning},
  booktitle = {{A}utonome {M}obile {S}ysteme {(AMS)}},
  pages = {22--28},
  year = 2007,
  month = oct,
  doi = {10.1007/978-3-540-74764-2_4},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/joho07ams.pdf},
  isbn = {978-3-540-74763-5},
  publisher = {Springer},
  editor = {Karsten Berns and Tobias Luksch},
  address = {Kaiserslautern, Germany}
}
@mastersthesis{joho07diplom,
  author = {Dominik Joho},
  title = {{E}xploration f\"{u}r mobile {R}oboter unter {V}erwendung dreidimensionaler {U}mgebungsmodelle},
  school = {Albert-Ludwigs-Universit\"{a}t Freiburg},
  year = 2007,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/joho07diplom.pdf}
}
@inproceedings{kuemmerle07ams,
  author = {K{\"u}mmerle, R. and Pfaff, P. and Triebel, R. and Burgard, W.},
  title = {Active Monte Carlo Localization in Outdoor Terrains using Multi-Level Surface Maps},
  booktitle = {Fachgespr{\"a}ch Autonome Mobile Systeme (AMS)},
  pages = {22--28},
  year = 2007,
  month = oct,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/kuemmerle07ams.pdf},
  isbn = {978-3-540-74763-5},
  publisher = {Springer},
  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.},
  editor = {Karsten Berns and Tobias Luksch},
  address = {Kaiserslautern, Germany}
}
@inproceedings{kuemmerle07fsr,
  author = {K{\"u}mmerle, R. and Triebel, R. and Pfaff, P. and Burgard, W.},
  title = {Monte Carlo Localization in Outdoor Terrains using Multi-Level Surface Maps},
  booktitle = {Proc. of the International Conference on Field and Service Robotics (FSR)},
  year = 2007,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/kuemmerle07fsr.pdf},
  downloads = {http://ais.informatik.uni-freiburg.de/~kuemmerl/data/movie_sbahn.avi_Xvid_Avi_(15_MB); http://ais.informatik.uni-freiburg.de/~kuemmerl/data/movie-79er.avi_Xvid_Avi_(19_MB)},
  downloads = {http://ais.informatik.uni-freiburg.de/~kuemmerl/data/movie_sbahn.avi_Xvid_Avi_(15_MB); http://ais.informatik.uni-freiburg.de/~kuemmerl/data/movie-79er.avi_Xvid_Avi_(19_MB)},
  address = {Chamonix, France},
  abstract = {In this paper we consider the problem of mobile
                   robot localization with range sensors in outdoor
                   environments.  Our approach applies a particle
                   filter to estimate the full six-dimensional state
                   of the robot.  To represent the environment we
                   utilize multi-level surface maps which allow the
                   robot to represent vertical structures and multiple
                   levels in the environment.  We describe
                   probabilistic motion and sensor models to calculate
                   the proposal distribution and to evaluate the
                   likelihood of observations.  Experimental results
                   obtained with a mobile robot in an outdoor
                   environment indicate that our approach can be used
                   to robustly and accurately localize an outdoor
                   vehicle.  The experiments also demonstrate that
                   multi-level surface maps lead to a significantly
                   better localization performance than standard
                   elevation maps.}
}
@inproceedings{meyer-delius07ecmr,
  author = {D. Meyer-Delius and W. Burgard},
  title = {Maximum-Likelihood Sample-Based Maps for Mobile Robots},
  booktitle = {Proc.~of the European Conference on Mobile Robots (ECMR)},
  year = 2007,
  address = {Freiburg, Germany}
}
@inproceedings{meyer-delius07gfki,
  author = {D. Meyer-Delius and C. Plagemann and G. von Wichert and W. Feiten and G. Lawitzky and W. Burgard},
  title = {A Probabilistic Relational Model for Characterizing Situations in Dynamic Multi-Agent Systems},
  booktitle = {In Proc.~of the 31th Annual Conference of the German Classification Society on Data Analysis, Machine Learning, and Applications (GFKL)},
  year = 2007,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/meyerdelius07gfkl.pdf},
  address = {Freiburg, Germany},
  abstract = {Artificial systems with a high degree of autonomy
                   require reliable semantic information about the
                   context they operate in. State interpretation,
                   however, is a difficult task. Interpretations may
                   depend on a history of states and there may be more
                   than one valid interpretation. We propose a model
                   for spatio-temporal situations using hidden Markov
                   models based on relational state descriptions,
                   which are extracted from the estimated state of an
                   underlying dynamic system. Our model covers
                   concurrent situations, scenarios with multiple
                   agents, and situations of varying durations. To
                   evaluate the practical usefulness of our model, we
                   apply it to the concrete task of online traffic
                   analysis.}
}
@inproceedings{pfaff07icra,
  author = {Pfaff, P. and Triebel, R.and Stachniss, C. and Lamon, P. and Burgard, W. and Siegwart, R.},
  title = {Towards Mapping of Citites},
  booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
  year = 2007,
  doi = {10.1109/ROBOT.2007.364220},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/pfaff07icra.pdf},
  address = {Rome, Italy}
}
@inproceedings{pfaff07iros,
  author = {P. Pfaff and C. Plagemann and W. Burgard},
  title = {Improved Likelihood Models for Probabilistic Localization based on Range Scans},
  booktitle = {Proc.~of the IEEE/RSJ Int.~Conf.~on Intelligent Robots and Systems (IROS)},
  year = 2007,
  doi = {10.1109/IROS.2007.4399250},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/pfaff07iros.pdf},
  address = {San Diego, CA, USA},
  abstract = {}
}
@article{pfaff07ijrr,
  author = {Pfaff, P. and Triebel, R. and Burgard, W.},
  title = {An Efficient Extension to Elevation Maps for Outdoor Terrain Mapping and Loop Closing},
  journal = {International Journal of Robotics Research},
  year = 2007,
  editor = {P. Corke, and S. Sukkarieh}
}
@inproceedings{plagemann07snowb,
  author = {Plagemann, C. and Kersting, K. and Pfaff, P.  and Burgard, W.},
  title = {Heteroscedastic Gaussian Process Regression for Modeling Range Sensors in Mobile Robotics},
  booktitle = {Proc.~of the Learning Workshop (Snowbird)},
  year = 2007,
  month = mar,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/plagemann07snowb.pdf},
  address = {San Juan, Puerto Rico}
}
@inproceedings{rottmann07iros,
  author = {Rottmann, A. and Plagemann, C. and Hilgers, P. and Burgard, W.},
  title = {Autonomous Blimp Control using Model-free Reinforcement Learning in a Continuous State and Action Space},
  booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages = {1895--1900},
  year = 2007,
  doi = {10.1109/IROS.2007.4399531},
  url = {http://ais.informatik.uni-freiburg.de/~rottmann/publication/rottmann07iros.pdf},
  address = {San Diego, CA, USA},
  abstract = {}
}
@inproceedings{plagemann07rss,
  author = {Plagemann, C. and Kersting, K. and Pfaff, P. and Burgard, W.},
  title = {Gaussian Beam Processes: A Nonparametric Bayesian Measurement Model for Range Finders},
  booktitle = {Robotics: Science and Systems (RSS)},
  year = 2007,
  month = jun,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/plagemann07rss.pdf},
  address = {Atlanta, Georgia, USA},
  abstract = {In probabilistic mobile robotics, the development
                   of measurement models plays a crucial role as it
                   directly influences the efficiency and the
                   robustness of the robot's performance in a great
                   variety of tasks including localization, tracking,
                   and map building. In this paper, we present a novel
                   probabilistic measurement model for range finders,
                   called Gaussian Beam Processes, which treats the
                   measurement modeling task as a nonparametric
                   Bayesian regression problem and solves it using
                   Gaussian processes. The major advantage of our
                   approach lies in the smoothness of the resulting
                   model which appropriately represents correlations
                   between adjacent beams using covariance functions.
                   Moreover, the Gaussian process treatment results in
                   a sound probabilistic measurement model with a pool
                   of well-established techniques for likelihood
                   estimation and range prediction for an arbitrary
                   number of beams. Experiments on real world and
                   synthetic data show that Gaussian Beam Processes
                   combine the advantages of two popular measurement
                   models.}
}
@inproceedings{lang07rss,
  author = {Lang, T. and Plagemann, C. and Burgard, W.},
  title = {Adaptive Non-Stationary Kernel Regression for Terrain Modeling},
  booktitle = {Robotics: Science and Systems (RSS)},
  year = 2007,
  month = jun,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/lang07rss.pdf},
  address = {Atlanta, Georgia, USA},
  abstract = {Three-dimensional digital terrain models are of
                   fundamental importance in many areas such as the
                   geo-sciences and outdoor robotics. Accurate
                   modeling requires the ability to deal with a
                   varying data density and to balance smoothing
                   against the preservation of discontinuities. The
                   latter is particularly important for robotics
                   applications, as discontinuities that arise, for
                   example, at steps, stairs, or building walls are
                   important features for path planning or terrain
                   segmentation tasks. In this paper, we present an
                   extension of the well- established Gaussian process
                   regression technique, that utilizes non-stationary
                   covariance functions to locally adapt to the
                   structure of the terrain data. In this way, we
                   achieve strong smoothing in flat areas and along
                   edges and at the same time preserve edges and
                   corners. The derived model yields predictive height
                   distributions for arbitrary locations of the
                   terrain and therefore allows us to fill gaps in
                   data and to perform conservative predictions in
                   occluded areas.}
}
@inproceedings{kersting07icml,
  author = {Kersting, K. and Plagemann, C. and Pfaff, P. and Burgard, W.},
  title = {Most Likely Heteroscedastic Gaussian Process Regression},
  booktitle = {International Conference on Machine Learning (ICML)},
  year = 2007,
  month = mar,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/kersting07icml.pdf},
  address = {Corvallis, Oregon, USA},
  abstract = {This paper presents a novel Gaussian process (GP)
                   approach to regression with input-dependent noise
                   rates. We follow Goldberg et al.'s approach and
                   model the noise variance using a second GP in
                   addition to the GP governing the noise-free output
                   value. In contrast to Goldberg et al., however, we
                   do not use a Markov chain Monte Carlo method to
                   approximate the posterior noise variance but a most
                   likely noise approach. The resulting model is easy
                   to implement and can directly be used in
                   combination with various existing extensions of the
                   standard GPs such as sparse approximations.
                   Extensive experiments on both synthetic and real-
                   world data, including a challenging perception
                   problem in robotics, show the effectiveness of most
                   likely heteroscedastic GP regression.}
}
@article{kersting07ar,
  author = {Kersting, K. and Plagemann, C. and Cocora, A. and Burgard, W. and De Raedt, L.},
  title = {Learning to Transfer Optimal Navigation Policies},
  journal = {Advanced Robotics. Special Issue on Imitative Robots},
  volume = {21},
  number = {9},
  year = 2007,
  month = sep,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/kersting07ar.pdf},
  abstract = {Autonomous agents that act in the real world
                   utilizing sensory input greatly rely on the ability
                   to plan their actions and to transfer these skills
                   across tasks. The majority of path planning
                   approaches for mobile robots, however, solve the
                   current navigation problem from scratch given the
                   current and goal configuration of the robot.
                   Consequently, these approaches yield highly
                   efficient plans for the specific situation, but the
                   computed policies typically do not transfer to
                   other, similar tasks. In this paper, we propose to
                   apply techniques from statistical relational
                   learning to the path planning problem. More
                   precisely, we propose to learn relational decision
                   trees as abstract navigation strategies from
                   example paths. Relational abstraction has several
                   interesting and important properties. First, it
                   allows a mobile robot to imitate navigation
                   behavior shown by users or by optimal policies.
                   Second, it yields comprehensible models of
                   behavior. Finally, a navigation policy learned in
                   one environment naturally transfers to unknown
                   environments. In several experiments with real
                   robots and in simulated runs, we demonstrate that
                   our approach yields efficient navigation plans. We
                   show that our system is robust against observation
                   noise and can outperform hand-crafted policies.}
}
@inproceedings{plagemann07ijcai,
  author = {Plagemann, C. and Fox, D. and Burgard, W.},
  title = {Efficient Failure Detection on Mobile Robots Using Particle Filters with Gaussian Process Proposals},
  booktitle = {Proc.~of the Twentieth International Joint Conference on Artificial Intelligence (IJCAI)},
  year = 2007,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/plagemann07ijcai.pdf},
  address = {Hyderabad, India},
  abstract = {The ability to detect failures and to analyze
                   their causes is one of the preconditions of truly
                   autonomous mobile robots. Especially online failure
                   detection is a complex task, since the effects of
                   failures are typically difficult to model and often
                   resemble the noisy system behavior in a fault-free
                   operational mode. In this paper we present an
                   approach that applies Gaussian process
                   classification and regression techniques for
                   learning highly effective proposal distributions of
                   a particle filter that is applied to track the
                   state of the system.  As a result, the efficiency
                   and robustness of the state estimation process is
                   substantially improved. In practical experiments
                   carried out with a real robot we demonstrate that
                   our system is capable of detecting collisions with
                   unseen obstacles while at the same time estimating
                   the changing point of contact with the obstacle.}
}
@inproceedings{rottmann07ecmr,
  author = {Rottmann, A. and Sippel, M. and Zitterell, T. and Burgard, W. and Reindl, L. and Scholl, C.},
  title = {Towards an Experimental Autonomous Blimp Platform},
  booktitle = {Proc.~of the European Conference on Mobile Robots (ECMR)},
  year = 2007,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/rottmann07ecmr.pdf},
  address = {Freiburg, Germany}
}
@inproceedings{steder07irosws,
  author = {Steder, B. and Rottmann, A. and Grisetti, G. and Stachniss, C. and Burgard, W.},
  title = {Autonomous Navigation for Small Flying Vehicles},
  booktitle = {Workshop on Micro Aerial Vehicles at the IEEE/RSJ Int.~Conf.~on Intelligent Robots and Systems (IROS)},
  year = 2007,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/steder07irosws.pdf},
  address = {San Diego, CA, USA}
}
@incollection{burgard07starbook,
  author = {Burgard, W. and Stachniss, C. and Haehnel, D.},
  title = {Mobile Robot Map Learning from Range Data in Dynamic Environments},
  booktitle = {Autonomous Navigation in Dynamic Environments},
  volume = {35},
  year = 2007,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/burgard07starbook.pdf},
  publisher = {Springer},
  series = {STAR Springer tracts in advanced robotics},
  editor = {Laugier, C. and Chatila, R.}
}
@inproceedings{stachniss07iros,
  author = {Stachniss, C. and Grisetti, G. and Burgard, W. and Roy, N.},
  title = {Evaluation of Gaussian Proposal Distributions for Mapping with Rao-Blackwellized Particle Filters},
  booktitle = {Proc.~of the IEEE/RSJ Int.~Conf.~on Intelligent Robots and Systems (IROS)},
  year = 2007,
  doi = {10.1109/IROS.2007.4399005},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/stachniss07iros.pdf},
  address = {San Diego, CA, USA}
}
@inproceedings{wurm07ecmr,
  author = {Wurm, K.M. and Stachniss, C. and Grisetti, G. and Burgard, W.},
  title = {Improved Simultaneous Localization and Mapping using a Dual Representation of the Environment},
  booktitle = {Proc.~of the European Conference on Mobile Robots (ECMR)},
  year = 2007,
  month = sep,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/wurm07ecmr.pdf},
  address = {Freiburg, Germany}
}
@incollection{martinez07starbook,
  author = {Mart\'{i}nez-Mozos, O. and Stachniss, C. and Rottmann, A. and Burgard, W.},
  title = {Using AdaBoost for Place Labelling and Topological Map Building},
  booktitle = {Robotics Research},
  volume = {28},
  year = 2007,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/martinez07springer.pdf},
  isbn = {978-3-540-48110-2},
  publisher = {Springer},
  series = {STAR Springer tracts in advanced robotics},
  editor = {Thrun, S. and Brooks, R. and Durrant-Whyte, H.}
}
@article{grisetti07trans,
  author = {Grisetti, G. and Stachniss, C. and Burgard, W.},
  title = {Improved Techniques for Grid Mapping with Rao- Blackwellized Particle Filters},
  journal = {IEEE Transactions on Robotics},
  volume = {23},
  number = {1},
  pages = {34--46},
  year = 2007,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/grisetti07tro.pdf}
}
@article{grisetti07jras,
  author = {Grisetti, G. and Tipaldi, G.D. and Stachniss, C. and Burgard, W. and Nardi, D.},
  title = {Fast and Accurate {SLAM} with Rao-Blackwellized Particle Filters},
  journal = {Robotics and Autonomous Systems},
  volume = {55},
  number = {1},
  pages = {30--38},
  year = 2007,
  url = {http://ais.informatik.uni-freiburg.de/~tipaldi/papers/grisettiRAS07.pdf}
}
@mastersthesis{steder07da,
  author = {Steder, Bastian},
  title = {{T}echniken f{\"u}r bildbasiertes {SLAM} unter {V}erwendung von {L}agesensoren},
  school = {Albert-Ludwigs-Universit{\"a}t},
  year = 2007,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/steder07da.pdf},
  address = {Freiburg}
}
@inproceedings{tipaldi07iros,
  author = {Gian Diego Tipaldi and Giorgio Grisetti and Wolfram Burgard},
  title = {Approximated Covariance Estimation in Graphical Approaches to SLAM},
  booktitle = {Proceedings of the {IEEE/RSJ} International Conference on Intelligent Robots and Systems ({IROS})},
  year = 2007,
  doi = {10.1109/IROS.2007.4399258},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/tipaldiIROS07.pdf},
  address = {San Diego, USA}
}
@mastersthesis{wurm07da,
  author = {Wurm, Kai M.},
  title = {Robustes {L}ernen von {U}mgebungskarten durch {I}ntegration verschiedener {R}epr{\"a}sentationen},
  school = {Albert-Ludwigs-Universit{\"a}t},
  year = 2007,
  month = jul,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/wurm07da.pdf},
  note = {In German},
  address = {Freiburg}
}
@inproceedings{mozos2006iros_w,
  author = {Oscar Martinez Mozos and Axel Rottmann and Rudolph Triebel and Patric Jensfelt and Wolfram Burgard},
  title = {Semantic Labeling of Places using Information Extracted from Laser and Vision Sensor Data},
  booktitle = {Proceedings of the IEEE/RSJ IROS Workshop: From sensors to human spatial concepts},
  pages = {391--402},
  year = 2006,
  url = {http://ais.informatik.uni-freiburg.de/~rottmann/publication/mozos2006iros_w.pdf},
  category = {workshop},
  address = {Beijing, China}
}
@inproceedings{mozos2006iros,
  author = {Oscar Martinez Mozos and Wolfram Burgard},
  title = {Supervised Learning of Topological Maps using Semantic Information Extracted from Range Data.},
  booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year = 2006,
  doi = {10.1109/IROS.2006.282058},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/mozos2006iros.pdf},
  category = {conference},
  address = {Beijing, China}
}
@inproceedings{gil2006iros,
  author = {Arturo Gil and Oscar Reinoso and Wolfram Burgard and Cyrill Stachniss and Oscar Martinez Mozos},
  title = {Improving Data Association in Rao-Blackwellized visual {SLAM}},
  booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems},
  pages = {2076--2081},
  year = 2006,
  doi = {10.1109/IROS.2006.282483},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/gil2006iros.pdf},
  category = {conference},
  address = {Beijing, China}
}
@inproceedings{stachniss06icra,
  author = {Cyrill Stachniss and Oscar Martinez Mozos and Wolfram Burgard},
  title = {Speeding-Up Multi-Robot Exploration by Considering Semantic Place Information},
  booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation},
  pages = {1692--1697},
  year = 2006,
  doi = {10.1109/ROBOT.2006.1641950},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/stachniss06icra.pdf},
  link = {http://ais.informatik.uni-freiburg.de/publications/papers/stachniss2006icra.pdf},
  category = {conference},
  address = {Orlando, FL, USA}
}
@inproceedings{bennewitz06euros,
  author = {Bennewitz, M. and Stachniss, C. and Burgard, W. and Behnke, S.},
  title = {Metric Localization with Scale-Invariant Visual Features using a Single Perspective Camera},
  booktitle = {European Robotics Symposium 2006},
  volume = {22},
  pages = {143--157},
  year = 2006,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/bennewitz06euros.pdf},
  isbn = {3-540-32688-X},
  publisher = {Springer Verlag Berlin Heidelberg, Germany},
  series = {STAR Springer tracts in advanced robotics},
  editor = {H.I. Christiensen}
}
@proceedings{RSS06,
  title = {Proc.~of the Robotics - Science and Systems (RSS)},
  year = 2006,
  editor = {Sukhatme, G. and Schaal, S. and Fox, D. and
                   Burgard, W.}
}
@inproceedings{mucientes2006iros,
  author = {Mucientes, M. and Burgard, W.},
  title = {Multi-Hypothesis Tracking of Clusters of People},
  booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year = 2006,
  doi = {10.1109/IROS.2006.282614}
}
@mastersthesis{grzonka06thesis,
  author = {Grzonka, S.},
  title = {Untersuchungen zur Genauigkeit von SLAM- Verfahren mit Partikel-Filtern},
  school = {University of Freiburg, Department of Computer Science},
  year = 2006,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/Grzonka_Diplomarbeit.pdf},
  note = {In German}
}
@inproceedings{lamon06irosws,
  author = {Lamon, P. and  Stachniss, C. and Triebel, R. and  Pfaff, P. andPlagemann, C. and Grisetti, G.  and Kolski, S.  and Burgard, W. and Siegwart, R.},
  title = {Mapping with an Autonomous Car},
  booktitle = {Proc.~of the IEEE/RSJ Int.~Conf.~on Intelligent Robots and Systems (IROS)},
  year = 2006,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/lamon06iros.pdf},
  address = {Beijing, China},
  abstract = {In this paper, we present an approach towards
                   mapping and safe navigation in real, large-scale
                   environments with an autonomous car. The goal is to
                   enable the car to autonomously navigate on roads
                   while avoiding obstacles and while simultaneously
                   learning an accurate three-dimensional model of the
                   environment. To achieve these goals, we apply
                   probabilistic state estimation techniques, network-
                   based pose optimization, and a sensor-based
                   traversability analysis approach. In order to
                   achieve fast map learning, our system compresses
                   the sensor data using multi-level surface maps. The
                   overall system runs on a modified Smart car
                   equipped with different types of sensors. We
                   present several results obtained from extensive
                   experiments which illustrate the capabilities of
                   our vehicle.}
}
@inproceedings{pfaff06euros,
  author = {Pfaff, P. and Burgard, W. and Fox, D.},
  title = {Robust Monte-Carlo Localization using Adaptive Likelihood Models},
  booktitle = {European Robotics Symposium 2006},
  volume = {22},
  pages = {181--194},
  year = 2006,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/pfaff06euros.pdf},
  isbn = {3-540-32688-X},
  publisher = {Springer-Verlag Berlin Heidelberg, Germany},
  series = {springerstaradvanced},
  editor = {H.I. Christiensen}
}
@inproceedings{triebel06iros,
  author = {R. Triebel and P. Pfaff and W. Burgard},
  title = {Multi Level Surface Maps for Outdoor Terrain Mapping and Loop Closing},
  booktitle = {Proc.~of the IEEE/RSJ Int.~Conf.~on Intelligent Robots and Systems (IROS)},
  year = 2006,
  doi = {10.1109/IROS.2006.282632},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/triebel06iros.pdf}
}
@article{cocora06ki,
  author = {Cocora, A. and Kersting, K. and Plagemann, C. and Burgard, W. and De Raedt, L.},
  title = {Learning Relational Navigation Policies},
  journal = {KI - K{\"u}nstliche Intelligenz, Themenheft Lernen und Selbstorganisation von Verhalten},
  volume = {3},
  pages = {12--18},
  year = 2006
}
@inproceedings{cocora06iros,
  author = {Cocora, A. and Kersting, K. and Plagemann, C. and Burgard, W. and De Raedt, L.},
  title = {Learning Relational Navigation Policies},
  booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year = 2006,
  doi = {10.1109/IROS.2006.282061},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/cocora06iros.pdf},
  address = {Beijing, China},
  abstract = {Navigation is one of the fundamental tasks for a
                   mobile robot. The majority of path planning
                   approaches has been designed to entirely solve the
                   given problem from scratch given the current and
                   goal configurations of the robot. Although these
                   approaches yield highly efficient plans, the
                   computed policies typically do not transfer to
                   other, similar tasks. We propose to learn
                   relational decision trees as abstract navigation
                   strategies from example paths. Relational
                   abstraction has several interesting and important
                   properties. First, it allows a mobile robot to
                   generalize navigation plans from specific examples
                   provided by users or exploration. Second, the
                   navigation policy learned in one environment can be
                   transferred to unknown environments. In several
                   experiments with real robots in a real environment
                   and in simulated runs, we demonstrate the
                   usefulness of our approach.}
}
@inproceedings{plagemann06euros,
  author = {Plagemann, C. and Stachniss, C. and Burgard, W.},
  title = {Efficient Failure Detection for Mobile Robots using Mixed-Abstraction Particle Filters},
  booktitle = {European Robotics Symposium 2006},
  volume = {22},
  pages = {93--107},
  year = 2006,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/plagemann06euros.pdf},
  isbn = {3-540-32688-X},
  publisher = {Springer-Verlag Berlin Heidelberg, Germany},
  series = {STAR Springer tracts in advanced robotics},
  editor = {H.I. Christensen}
}
@inproceedings{gil2006icinco,
  author = {Arturo Gil, A. and Reinoso, O. and Fern\'{a}ndez, C. and Asunci\'{o}n Vicente, M. and Rottmann, A. and Mart\'{i}nez Mozos, O.},
  title = {Simultaneous localization and mapping in unmodified environments using stereo vision},
  booktitle = {Proc.~of the Int.~Conf.~on Informatics in Control, Automation, and Robotics},
  pages = {302--309},
  year = 2006,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/gil06icinco.pdf}
}
@inproceedings{meier06sensor,
  author = {Meier, D. and Stachniss, C. and Burgard, W.},
  title = {Cooperative Exploration With Multiple Robots Using Low Bandwidth Communication},
  booktitle = {Informationsfusion in der Mess- und Sensortechnik},
  pages = {145--157},
  year = 2006,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/meier06sensor.pdf},
  isbn = {3-86644-053-7},
  editor = {Beyerer, J.  and Puente Le\'{o}n, F. and Sommer,
                   K.-D.}
}
@inproceedings{gil06iros,
  author = {Gil, A. and Reinoso, O. and Mart\'{i}nez-Mozos, O. and Stachniss, C. and Burgard, W.},
  title = {Improving Data Association in Vision-based {SLAM}},
  booktitle = {Proc.~of the IEEE/RSJ Int.~Conf.~on Intelligent Robots and Systems (IROS)},
  year = 2006,
  doi = {10.1109/IROS.2006.282483},
  address = {Beijing, China}
}
@article{sonntag06endod,
  author = {Sonntag, D. and Stachniss-Carp, S. and Stachniss, C. and Stachniss, V.},
  title = {Determination of Root Canal Curvatures before and after Canal Preparation (Part II): A Method based on Numeric Calculus},
  journal = {Aust Endod J},
  volume = {32},
  pages = {16--25},
  year = 2006,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/sonntag06endod.pdf}
}
@phdthesis{stachniss06phd,
  author = {Stachniss, C.},
  title = {Exploration and Mapping with Mobile Robots},
  school = {University of Freiburg, Department of Computer Science},
  year = 2006,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/stachniss06phd.pdf}
}
@inproceedings{grisetti06icra,
  author = {Grisetti, G. and Tipaldi, G.D. and Stachniss, C. and Burgard, W. and Nardi, D.},
  title = {Speeding-Up Rao-Blackwellized {SLAM}},
  booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
  pages = {442--447},
  year = 2006,
  doi = {10.1109/ROBOT.2006.1641751},
  url = {http://ais.informatik.uni-freiburg.de/~tipaldi/papers/grisettiICRA06.pdf},
  address = {Orlando, FL, USA}
}
@inproceedings{stachniss05isrr,
  author = {Cyrill Stachniss and Oscar Martinez Mozos and Axel Rottmann and Wolfram Burgard},
  title = {Semantic Labeling of Places},
  booktitle = {International Symposium of Robotics Research},
  year = 2005,
  month = oct,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/stachniss05isrr.pdf},
  link = {http://ais.informatik.uni-freiburg.de/~rottmann/publication/stachniss05isrr.pdf},
  category = {workshop},
  address = {San Francisco, CA, USA}
}
@inproceedings{rottmann05aaai,
  author = {Axel Rottmann and Oscar Martinez Mozos and Cyrill Stachniss and Wolfram Burgard},
  title = {Semantic Place Classification of Indoor Environments with Mobile Robots using Boosting.},
  booktitle = {Proceedings of the National Conference on Artificial Intelligence},
  pages = {1306--1311},
  year = 2005,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/rottmann05aaai.pdf},
  link = {http://www2.informatik.uni-freiburg.de/~omartine/publications/rottmann2005aaai.html},
  video = {http://www2.informatik.uni-freiburg.de/~omartine/multimedia/fr079-6classes-hmm2.anim.avi},
  category = {conference},
  address = {Pittsburgh, PA, USA}
}
@inproceedings{martinez05icra,
  author = {Oscar Martinez Mozos and Cyrill Stachniss and Wolfram Burgard},
  title = {Supervised Learning of Places from Range Data using {A}da{B}oost},
  booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation},
  pages = {1742--1747},
  year = 2005,
  doi = {10.1109/ROBOT.2005.1570363},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/martinez05icra.pdf},
  link = {http://ais.informatik.uni-freiburg.de/~omartine/publications/martinez2005icra.html},
  video = {http://ais.informatik.uni-freiburg.de/~omartine/multimedia/fr079-online-classification.anim.avi},
  category = {conference},
  finalistbeststudentpaper = {http://ais.informatik.uni-
                   __________________freiburg.de/~omartine/images/icra
                   05-best-student- __________________paper-
                   finalist.jpg},
  address = {Barcelona, Spain}
}
@incollection{bennewitz05geriatrie,
  author = {Bennewitz, M. and Burgard, W.},
  title = {Serviceroboter f{\"u}r den {P}flegebereich},
  booktitle = {Handbuch Geriatrie. Lehrbuch fr Praxis und Klinik},
  year = 2005,
  publisher = {Deutsche Krankenhaus Verlagsgesellschaft mbH},
  editor = {A. M. Raem and H. Fenger and G. F. Kolb and T.
                   Nikolaus and L. Pientka and R. Rychlik and T.
                   V{\"o}mel},
  note = {In German},
  address = {D{\"u}sseldorf}
}
@article{bennewitz05ijrr,
  author = {Bennewitz, M. and Burgard, W. and Cielniak, G. and Thrun, S.},
  title = {Learning Motion Patterns of People for Compliant Robot Motion},
  journal = {The International Journal of Robotics Research (IJRR)},
  volume = {24},
  number = {1},
  year = 2005,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/bennewitz05ijrr.pdf}
}
@book{Choset04,
  author = {Choset, H. and Lynch, K. and Hutchinson, S. and Kantor, G. and Burgard, W. and Kavraki, L. and Thrun, S.},
  title = {Principles of Robot Motion: Theory, Algorithms and Implementation},
  year = 2005,
  publisher = {MIT Press}
}
@book{Thrun05,
  author = {Thrun, S. and Burgard, W. and Fox, D.},
  title = {Probabilistic Robotics},
  year = 2005,
  publisher = {MIT Press}
}
@article{Thrun05MineMapping,
  author = {S. Thrun and S. Thayer and W. Whittaker and C. Baker and W. Burgard and D. Ferguson and D. H\"{a}hnel and M. Montemerlo and A. Morris and Z. Omohundro and C. Reverte and W. Whittaker},
  title = {Autonomous Exploration and Mapping of Abandoned Mines},
  journal = {IEEE Robotics \& Automation Magazine},
  volume = {11},
  number = {4},
  year = 2005,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/ieeeram-mine-mapping.pdf}
}
@article{Wolf04ieeetro,
  author = {Wolf, J. and Burgard, W. and Burkhardt, H.},
  title = {Robust Vision-based Localization by Combining an Image Retrieval System with {M}onte {C}arlo Localization},
  journal = {IEEE Transactions on Robotics},
  volume = {21},
  number = {2},
  pages = {208--216},
  year = 2005,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/wolf-ieeetro05.pdf}
}
@inproceedings{pfaff05fsr,
  author = {P. Pfaff and W. Burgard},
  title = {An Efficient Extension of Elevation Maps for Outdoor Terrain Mapping},
  booktitle = {Proc. of the International Conference on Field and Service Robotics (FSR)},
  pages = {165--176},
  year = 2005,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/pfaff_fsr05.pdf},
  address = {Port Douglas, QLD, Australia}
}
@inproceedings{plagemann05ams,
  author = {Plagemann, C. and Burgard, W.},
  title = {Sequential Parameter Estimation for Fault Diagnosis in Mobile Robots Using Particle Filters.},
  booktitle = {Autonome Mobile Systeme 2005 (AMS)},
  pages = {197--202},
  year = 2005,
  publisher = {Springer}
}
@inproceedings{plagemann05dagm,
  author = {Plagemann, C. and M{\"u}ller, T. and Burgard, W.},
  title = {Vision-Based 3D Object Localization Using Probabilistic Models of Appearance.},
  booktitle = {Pattern Recognition, 27th DAGM Symposium, Vienna, Austria},
  volume = {3663},
  pages = {184--191},
  year = 2005,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/plagemann05dagm.pdf},
  publisher = {Springer},
  series = {Lecture Notes in Computer Science},
  editor = {Walter G. Kropatsch and Robert Sablatnig and Allan
                   Hanbury}
}
@mastersthesis{rottmann05masterthesis,
  author = {Rottmann, A.},
  title = {Bild- und laserbasierte Klassifikation von Umgebungen mit mobilen Robotern},
  school = {University of Freiburg, Department of Computer Science},
  year = 2005,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/rottmann05mt.pdf},
  note = {In German}
}
@article{stachniss05ar,
  author = {Stachniss, C. and H\"{a}hnel, D. and Burgard, W. and Grisetti, G.},
  title = {On Actively Closing Loops in Grid-based {FastSLAM}},
  journal = {Advanced Robotics},
  volume = {19},
  number = {10},
  pages = {1059--1080},
  year = 2005,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/stachniss05ar.pdf}
}
@inproceedings{stachniss05robotics,
  author = {Stachniss, C. and Grisetti, G. and Burgard, W.},
  title = {Information Gain-based Exploration Using Rao- Blackwellized Particle Filters},
  booktitle = {Proc.~of Robotics: Science and Systems (RSS)},
  pages = {65--72},
  year = 2005,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/stachniss05rss.pdf},
  address = {Cambridge, MA, USA}
}
@inproceedings{meier05ecmr,
  author = {Meier, D. and Stachniss, C. and Burgard, W.},
  title = {Coordinating Multiple Robots During Exploration Under Communication With Limited Bandwidth},
  booktitle = {Proc.~of the European Conference on Mobile Robots (ECMR)},
  pages = {26--31},
  year = 2005,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/meier05ecmr.pdf},
  address = {Ancona, Italy}
}
@inproceedings{stachniss05aaai,
  author = {Stachniss, C. and Burgard, W.},
  title = {Mobile Robot Mapping and Localization in Non-Static Environments},
  booktitle = {Proc.~of the National Conf.~on Artificial Intelligence (AAAI)},
  pages = {1324--1329},
  year = 2005,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/stachniss05aaai.pdf},
  address = {Pittsburgh, PA, USA}
}
@article{trahaniasWebfair,
  author = {Trahanias, P. and Burgard, W. and Argyros, A. and H\"{a}hnel, D. and Baltzakis, H. and Pfaff, P. and Stachniss, C.},
  title = {{TOURBOT} and {WebFAIR}: Web-Operated Mobile Robots for Tele-Presence in Populated Exhibitions},
  journal = {IEEE Robotics \& Automation Magazine},
  volume = {12},
  number = {2},
  pages = {77--89},
  year = 2005
}
@article{burgard05tro,
  author = {W. Burgard and M. Moors and C. Stachniss and F. Schneider},
  title = {Coordinated Multi-Robot Exploration},
  journal = {IEEE Transactions on Robotics},
  volume = {21},
  number = {3},
  pages = {376--386},
  year = 2005,
  doi = {10.1109/TRO.2004.839232},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/burgard05tro.pdf}
}
@inproceedings{burgard05snowbird,
  author = {Burgard, W. and Stachniss, C. and Grisetti, G.},
  title = {Information Gain-based Exploration Using Rao- Blackwellized Particle Filters},
  booktitle = {Proc. of the Learning Workshop (Snowbird)},
  year = 2005,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/burgard05snowbird.pdf},
  address = {Snowbird, UT, USA}
}
@inproceedings{stachniss05icra,
  author = {Stachniss, C. and Grisetti, G. and Burgard, W.},
  title = {Recovering Particle Diversity in a Rao-Blackwellized Particle Filter for {SLAM} after Actively Closing Loops},
  booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
  pages = {667--672},
  year = 2005,
  doi = {10.1109/ROBOT.2005.1570192},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/stachniss05icra.pdf},
  address = {Barcelona, Spain}
}
@inproceedings{grisetti05icra,
  author = {Grisetti, G. and Stachniss, C. and Burgard, W.},
  title = {Improving Grid-based {SLAM} with Rao- Blackwellized Particle Filters by Adaptive Proposals and Selective Resampling},
  booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
  pages = {2443--2448},
  year = 2005,
  doi = {10.1109/ROBOT.2005.1570477},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/grisetti05icra.pdf},
  address = {Barcelona, Spain}
}
@inproceedings{triebel05aaai,
  author = {Triebel, R. and Burgard, W.},
  title = {Improving Simultaneous Localization and Mapping in 3D Using Global Constraints},
  booktitle = {Proc.~of the Conf.~of the  Association for the Advancement of Artificial Intelligence (AAAI)},
  year = 2005,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/AAAI051TriebelR.pdf}
}
@inproceedings{triebel05icra,
  author = {Triebel, R. and Burgard, W. and Dellaert, F.},
  title = {Using Hierarchical EM to Extract Planes from 3D Range Scans},
  booktitle = {Proc.~of the IEEE International Conference on Robotics and Automation (ICRA)},
  year = 2005,
  doi = {10.1109/ROBOT.2005.1570803},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/triebel05using.pdf}
}
@inproceedings{wolf05icra,
  author = {Wolf, D.F. and Sukhatme, G. and Fox, D. and Burgard, W.},
  title = {Autonomous Terrain Mapping and Classification Using Hidden Markov Models},
  booktitle = {Proc.~of the IEEE International Conference on Robotics and Automation (ICRA)},
  year = 2005,
  doi = {10.1109/ROBOT.2005.1570411},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/wolf05icra.pdf}
}
@mastersthesis{martinez2004thesis,
  author = {Oscar Martinez Mozos},
  title = {Supervised Learning of Places from Range Data using AdaBoost},
  school = {University of Freiburg},
  year = 2004,
  month = dec,
  url = {http://ais.informatik.uni-freiburg.de/~omartine/publications/martinez2004thesis.html},
  ps = {http://ais.informatik.uni-freiburg.de/~omartine/publications/martinez2004thesis.ps.gz},
  category = {thesis}
}
@phdthesis{bennewitz04phd,
  author = {Bennewitz, M.},
  title = {Mobile Robot Navigation in Dynamic Environments},
  school = {University of Freiburg, Department of Computer Science},
  year = 2004,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/thesis_bennewitz.pdf}
}
@inproceedings{bennewitz04soave,
  author = {Bennewitz, M. and Pastrana, J. and Burgard, W.},
  title = {Active Localization of Persons with a Mobile Robot Based on Learned Motion Behaviors},
  booktitle = {Proc.~of the third Workshop on Selforganization of Adaptive Behavior (SOAVE)},
  year = 2004,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/bennewitz04soave.pdf}
}
@article{Thrun03IEEETRANS,
  author = {Thrun, S. and Martin, C. and Liu, Y. and H{\"a}hnel, D. and Emery Montemerlo, R. and Deepayan, C. and Burgard, W.},
  title = {A Real-Time Expectation Maximization Algorithm for Acquiring Multi-Planar Maps of Indoor Environments with Mobile Robots},
  journal = {IEEE Transactions on Robotics and Automation},
  volume = {20},
  number = {3},
  pages = {433--442},
  year = 2004,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/thrun.3d-planar-mapping.pdf}
}
@inproceedings{haehnel04rfid,
  author = {H{\"a}hnel, D. and Burgard, W. and Fox, D. and Fishkin, K. and Philipose, M.},
  title = {Mapping and Localization with {RFID} Technology},
  booktitle = {Proc.~of the IEEE International Conference on Robotics \& Automation (ICRA)},
  year = 2004,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/haehnel.icra04-rfid.pdf}
}
@inproceedings{sack04lines,
  author = {Sack, D. and Burgard, W.},
  title = {A Comparison of Methods for Line Extraction from Range Data},
  booktitle = {Proc.~of the IVAC Symposium on Intelligent Autonomous Vehicles (IAV)},
  year = 2004,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/sack-iav04.pdf}
}
@inproceedings{veeck04poly,
  author = {Veeck, M. and Burgard, W.},
  title = {Learning Polyline Maps from Range Scan Data Acquired with Mobile Robots},
  booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year = 2004,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/veeck04iros.pdf}
}
@mastersthesis{plagemann04mastersThesis,
  author = {Plagemann, C.},
  title = {{A}nsichtsbasierte {E}rkennung und {L}okalisierung von {O}bjekten zur {I}nitialisierung eines {V}erfolgungsprozesses},
  school = {University of Karlsruhe, Department of Computer Science and Fraunhofer Institute IITB, Karlsruhe},
  year = 2004,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/plagemann04mastersThesis.pdf},
  note = {In German}
}
@inproceedings{stachniss04soave,
  author = {Stachniss, C. and Grisetti, G. and H\"{a}hnel, D. and Burgard, W.},
  title = {Improved Rao-Blackwellized Mapping by Adaptive Sampling and Active Loop-Closure},
  booktitle = {Proc.~of the Workshop on Self-Organization of AdaptiVE behavior (SOAVE)},
  pages = {1--15},
  year = 2004,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/stachniss04soave.pdf},
  address = {Ilmenau, Germany}
}
@inproceedings{stachniss04iros,
  author = {Stachniss, C. and H\"{a}hnel, D. and Burgard, W.},
  title = {Exploration with Active Loop-Closing for {FastSLAM}},
  booktitle = {Proc.~of the IEEE/RSJ Int.~Conf.~on Intelligent Robots and Systems (IROS)},
  pages = {1505--1510},
  year = 2004,
  doi = {10.1109/IROS.2004.1389609},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/stachniss04iros.pdf},
  address = {Sendai, Japan}
}
@inproceedings{cielniak03ecmr,
  author = {Cielniak, G. and Bennewitz, M. and Burgard, W.},
  title = {Robust Localization of Persons Based on Learned Motion Patterns},
  booktitle = {Proc.~of the European Conference on Mobile Robots (ECMR)},
  year = 2003,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/cielniak03ecmr.pdf}
}
@inproceedings{cielniak03ijcai,
  author = {Cielniak, G. and Bennewitz, M. and Burgard, W.},
  title = {Where is ...? {L}earning and Utilizing Motion Patterns of Persons with Mobile Robots},
  booktitle = {Proc.~of the International Joint Conference on Artificial Intelligence (IJCAI)},
  year = 2003,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/cielniak03ijcai.pdf}
}
@inproceedings{bennewitz03icra,
  author = {Bennewitz, M. and Burgard, W. and Thrun, S.},
  title = {Adapting Navigation Strategies Using Motions Patterns of People},
  booktitle = {Proc.~of the IEEE International Conference on Robotics \& Automation (ICRA)},
  year = 2003,
  doi = {10.1109/ROBOT.2003.1241887},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/bennewitz03icra.pdf}
}
@inproceedings{bennewitz03vspets,
  author = {Bennewitz, M. and Cielniak, G. and Burgard, W.},
  title = {Utilizing Learned Motion Patterns to Robustly Track Persons},
  booktitle = {Proc.~of the Joint IEEE International Workshop on Visual Surveillance and Performance Evaluation of Tracking and Surveillance (VS-PETS)},
  year = 2003,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/bennewitz03vspets.pdf}
}
@inproceedings{Blanco02Image,
  author = {Blanco, J. and Burgard, W. and Sanz, R. and Fernandez, J.L.},
  title = {Fast Face Detection for Mobile Robots by Integrating Laser Range Data with Vision},
  booktitle = {Proc.~of the International Conference on Advanced Robotics (ICAR)},
  year = 2003,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/icar2003blanco.pdf}
}
@article{Burgard03Tele,
  author = {Burgard, W. and Trahanias, P. and H{\"a}hnel, D. and Moors, M. and Schulz, D. and Baltzakis, H. and Argyros, A.},
  title = {Tele-presence in Populated Exhibitions through Web-operated Mobile Robots},
  journal = {Journal of Autonomous Robots},
  volume = {15},
  pages = {299--316},
  year = 2003,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/telePresence_jar.pdf}
}
@proceedings{ECMR03,
  title = {Proc.~of the first {European} Conference on Mobile Robots (ECMR)},
  year = 2003,
  editor = {Borkowski, A. and Burgard, W. and Zingaretti, P.}
}
@article{Haehnel033D,
  author = {H{\"a}hnel, D. and Burgard, W. and Thrun, S.},
  title = {Learning compact 3D models of indoor and outdoor environments with a mobile robot},
  journal = {Robotics and Autonomous Systems},
  volume = {44},
  number = {1},
  pages = {15--27},
  year = 2003,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/haehnel.ras-03.pdf}
}
@inproceedings{Haehnel03Dynamic,
  author = {H{\"a}hnel, D. and Triebel, R. and Burgard, W. and Thrun, S.},
  title = {Map Building with Mobile Robots in Dynamic Environments},
  booktitle = {Proc.~of the IEEE International Conference on Robotics \& Automation (ICRA)},
  year = 2003,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/haehnel_icra03.pdf}
}
@inproceedings{Haehnel03IJCAI,
  author = {H{\"a}hnel, D. and Thrun, S. and Burgard, W.},
  title = {An Extension of the {ICP} Algorithm for Modeling Nonrigid Objects with Mobile Robots},
  booktitle = {Proc.~of the International Joint Conference on Artificial Intelligence (IJCAI)},
  year = 2003,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/haehnel-ijcai03.pdf}
}
@article{Haehnel03JRSJ,
  author = {H{\"a}hnel, D. and Schulz, D. and Burgard, W.},
  title = {Mobile Robot Mapping in Populated Environments},
  journal = {Journal of the Robotics Society of Japan (JRSJ)},
  volume = {7},
  number = {17},
  pages = {579--598},
  year = 2003,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/haehnel-populated.pdf}
}
@article{Schulz03IJRR,
  author = {Schulz, D. and Burgard, W. and Fox, D. Cremers, A.B.},
  title = {People Tracking with a Mobile Robot Using Sample-based Joint Probabilistic Data Association Filters},
  journal = {International Journal of Robotics Research (IJRR)},
  volume = {22},
  number = {2},
  pages = {99--116},
  year = 2003,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/people-tracking-ijrr-03.ps.gz}
}
@inproceedings{Thrun03ICRA,
  author = {Thrun, S. and Ferguson, D. and H{\"a}hnel, D. and Montemerlo, M. and Triebel, R. and Burgard, W.},
  title = {A System for Volumetric Robotic Mapping of Abandoned Mines},
  booktitle = {Proc.~of the IEEE International Conference on Robotics \& Automation (ICRA)},
  year = 2003,
  doi = {10.1109/ROBOT.2003.1242260},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/thrun.mine-mapping.pdf}
}
@inproceedings{Trahanias02Interactive,
  author = {Trahanias, P. and Burgard, W. and H{\"a}hnel, D. and Moors, M. and Schulz, D. and Baltzakis, H. and Argyros, A.},
  title = {Interactive Tele-presence in Populated Exhibitions through {W}eb-operated Robots},
  booktitle = {Proc.~of the International Conference on Advanced Robotics (ICAR)},
  year = 2003
}
@inproceedings{ferguson03nips,
  author = {Ferguson, D. and Morris, A. and H{\"a}hnel, D. and Baker, C. and Omohundro, Z. and Reverte, C. and Thayer, S. and Whittaker, W. and Burgard, W. and Thrun, S.},
  title = {An Autonomous Robotic System for Mapping Abandoned Mines},
  booktitle = {Proc.~of the Conference on Neural Information Processing (NIPS)},
  year = 2003,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/ferguson-nips03.pdf}
}
@inproceedings{haehnel03iros,
  author = {H{\"a}hnel, D. and Burgard, W. and Fox, D. and Thrun, S.},
  title = {A highly efficient {FastSLAM} algorithm for generating cyclic maps of large-scale environments from raw laser range measurements},
  booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year = 2003,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/haehnel-iros03.pdf}
}
@inproceedings{haehnel03isrr,
  author = {H{\"a}hnel, D. and Thrun, S. and Wegbreit, B. and Burgard, W.},
  title = {Towards Lazy Data Association in {SLAM}},
  booktitle = {Proc.~of the Int. Symposium of Robotics Research (ISRR)},
  year = 2003,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/haehnel-isrr03.pdf}
}
@inproceedings{stachniss03dagstuhl,
  author = {Stachniss, C. and H\"{a}hnel, D. and Burgard, W.},
  title = {Grid-based {FastSLAM} and Exploration with Active Loop Closing},
  booktitle = {Online Proc.~of the Dagstuhl Seminar on Robot Navigation (Dagstuhl Seminar~03501)},
  year = 2003,
  address = {Dagstuhl, Germany}
}
@inproceedings{stachniss03iros,
  author = {Stachniss, C. and Burgard, W.},
  title = {Mapping and Exploration with Mobile Robots using Coverage Maps},
  booktitle = {Proc.~of the IEEE/RSJ Int.~Conf.~on Intelligent Robots and Systems (IROS)},
  pages = {476--481},
  year = 2003,
  doi = {10.1109/IROS.2003.1250673},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/stachniss03iros.pdf},
  address = {Las Vegas, NV, USA}
}
@inproceedings{stachniss03ecmr,
  author = {Stachniss, C. and Burgard, W.},
  title = {Using Coverage Maps to Represent the Environment of Mobile Robots},
  booktitle = {Proc.~of the European Conference on Mobile Robots (ECMR)},
  pages = {59--64},
  year = 2003,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/stachniss03ecmr.pdf},
  address = {Radziejowice, Poland}
}
@inproceedings{stachniss03ijcai,
  author = {Stachniss, C. and Burgard, W.},
  title = {Exploring Unknown Environments with Mobile Robots using Coverage Maps},
  booktitle = {Proc.~of the Int.~Conf.~on Artificial Intelligence (IJCAI)},
  pages = {1127--1132},
  year = 2003,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/stachniss03ijcai.pdf},
  address = {Acapulco, Mexico}
}
@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},
  journal = {Robotics and Autonomous Systems},
  volume = {41},
  year = 2002,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/bennewitz02ras.pdf}
}
@inproceedings{bennewitz02iros,
  author = {Bennewitz, M. and Burgard, W. and Thrun, S.},
  title = {Using {EM} to Learn Motion Behaviors of Persons with Mobile Robots},
  booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year = 2002,
  doi = {10.1109/IRDS.2002.1041440},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/bennewitz02iros.pdf}
}
@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,
  doi = {10.1109/ROBOT.2002.1014268},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/bennewitz02icra.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
}
@incollection{Bur02Col,
  author = {Burgard, W. and Moors, M. and Schneider, F.},
  title = {Collaborative Exploration of Unknown Environments with Teams of Mobile Robots},
  booktitle = {Advances in Plan-Based Control of Robotic Agents},
  volume = {2466},
  year = 2002,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/burgard02dagstuhl.ps.gz},
  publisher = {Springer Verlag},
  series = {LNCS},
  editor = {Beetz, M. and Hertzberg, J. and Ghallab, M. and
                   Pollack, M.E.}
}
@inproceedings{Haehnel02Mapping,
  author = {H{\"a}hnel, D. and Schulz, D. and Burgard, W.},
  title = {Map Building with Mobile Robots in Populated Environments},
  booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year = 2002,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/haehnel_iros02.pdf}
}
@inproceedings{Schulz02Statistical,
  author = {Schulz, D. and Moors, M. and Burgard, W. and Cremers, A.B.},
  title = {A Statistical Approach to Tracking Multiple Moving People with a Mobile Robot and its Application to Improved Tele-Presence},
  booktitle = {Proc.~of the VDI-Conference Robotik 2002 (Robotik)},
  year = 2002
}
@inproceedings{Wolf02Image,
  author = {Wolf, J. and Burgard, W. and Burkhardt, H.},
  title = {Using an Image Retrieval System for Vision-based Mobile Robot Localization},
  booktitle = {Proc. of the International Conference on Image and Video Retrieval (CIVR)},
  year = 2002,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/wolf_civr02.pdf}
}
@inproceedings{Wolf02Robust,
  author = {Wolf, J. and Burgard, W. and Burkhardt, H.},
  title = {Robust Vision-based Localization for Mobile Robots using an Image Retrieval System Based on Invariant Features},
  booktitle = {Proc.~of the IEEE International Conference on Robotics \& Automation (ICRA)},
  year = 2002,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/wolf_icra02.pdf}
}
@inproceedings{burgard02Tourbot,
  author = {Burgard, W. and Trahanias, P. and H{\"a}hnel, D. and Moors, M. and Schulz, D. and Baltzakis, H. and Argyros A.},
  title = {TOURBOT and WebFAIR: Web-Operated Mobile Robots for Tele-Presence in Populated Exhibitions},
  booktitle = {Proc.~of the IROS 02 Workshop on Robots in Exhibition},
  year = 2002,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/burgard-iros02Workshop.pdf}
}
@inproceedings{haehnel02probabilistic,
  author = {H{\"a}hnel, D. and Burgard, W.},
  title = {Probabilistic Matching for 3D Scan Registration},
  booktitle = {Proc.~of the VDI-Conference Robotik 2002 (Robotik)},
  year = 2002,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/haehnel-robotik2002.pdf}
}
@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 Int.~Conf.~on Intelligent Robots and Systems (IROS)},
  pages = {508--513},
  year = 2002,
  doi = {10.1109/IRDS.2002.1041441},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/stachniss02iros.pdf},
  address = {Lausanne, Switzerland}
}
@mastersthesis{stachniss02diplom,
  author = {Stachniss, C.},
  title = {{Z}ielgerichtete {K}ollisionsvermeidung f{\"u}r mobile {R}oboter in dynamischen {U}mgebungen},
  school = {University of Freiburg, Department of Computer Science},
  year = 2002,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/stachniss02diplom.pdf},
  note = {In German}
}
@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},
  journal = {IEEE Intelligent Systems},
  volume = {16},
  year = 2001,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/beetz01Iis.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,
  doi = {10.1109/IROS.2001.973389},
  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,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/bennewitz01ki.pdf},
  publisher = {Springer Verlag}
}
@inproceedings{bennewitz01icra,
  author = {Bennewitz, M. and Burgard, W. and Thrun, S.},
  title = {Optimizing Schedules for Prioritized Path Planning of Multi-Robot Systems},
  booktitle = {Proc.~of the IEEE International Conference on Robotics \& Automation (ICRA)},
  year = 2001,
  doi = {10.1109/ROBOT.2001.932565},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/bennewitz01icra.pdf}
}
@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{Liu01Us,
  author = {Liu, Y. and Emery, R. and Chakrabarti, D. and Burgard, W. and Thrun, S.},
  title = {Using {EM} to Learn 3{D} Models of Indoor Environments with Mobile Robots},
  booktitle = {Proc.~of the International Conference on Machine Learning (ICML)},
  year = 2001,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/thrun.3D-EM.ps.gz}
}
@article{Sch00Pro,
  author = {Schulz, D. and Burgard, W.},
  title = {Probabilistic State Estimation of Dynamic Objects with a Moving Mobile Robot},
  journal = {Robotics and Autonomous Systems},
  volume = {34},
  number = {2-3},
  pages = {107--115},
  year = 2001,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/probabilistic-state-estimation-2001.pdf}
}
@incollection{Sch00Rob,
  author = {Burgard, W. and Schulz, D.},
  title = {Robust Visualization for Web-based Control of Mobile Robots},
  booktitle = {Robots on the Web: Physical Interaction through the Internet},
  year = 2001,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/MIT-Press.ps.gz},
  publisher = {MIT-Press},
  editor = {Goldberg, K. and Siegwart, R.}
}
@inproceedings{Schulz01Track,
  author = {Schulz, D. and Burgard, W. and Fox, D. and Cremers, A.B.},
  title = {Tracking Multiple Moving Targets with a Mobile Robot using Particle Filters and Statistical Data Association},
  booktitle = {Proc.~of the IEEE International Conference on Robotics \& Automation (ICRA)},
  year = 2001,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/multi-tracking-01.ps.gz}
}
@inproceedings{Schulz01Tracking,
  author = {Schulz, D. and Burgard, W. and Fox, D. and Cremers, A.B.},
  title = {Tracking Multiple Moving Objects with a Mobile Robot},
  booktitle = {Proc.~of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR)},
  year = 2001,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/schulz-tracking-cvpr2001.pdf}
}
@article{Thrun01Robust,
  author = {Thrun, S. and Fox, D. and Burgard, W. and Dellaert. F.},
  title = {Robust {M}onte-{C}arlo Localization for Mobile Robots},
  journal = {Artificial Intelligence},
  volume = {128},
  number = {1-2},
  pages = {99--141},
  year = 2001,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/robustMonteCarlo.pdf}
}
@inproceedings{haehnel01models3d,
  author = {H{\"a}hnel, D. and Burgard, W. and Thrun, S.},
  title = {Learning Compact 3D Models of Indoor and Outdoor Environments with a Mobile Robot},
  booktitle = {Proc.~of the fourth {European} workshop on advanced mobile robots (EUROBOT)},
  year = 2001
}
@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},
  journal = {International Journal of Robotics Research (IJRR)},
  volume = {19},
  number = {11},
  pages = {972--999},
  year = 2000,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/thrun00ijrr.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{Bur00Col,
  author = {Burgard, W. and Moors, M. and Fox, D. and Simmons, R. and Thrun, S.},
  title = {Collaborative Multi-Robot Exploration},
  booktitle = {Proc.~of the IEEE International Conference on Robotics \& Automation (ICRA)},
  year = 2000,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/exploration-ICRA2000.ps.gz}
}
@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},
  volume = {114},
  number = {1-2},
  pages = {3--55},
  year = 2000,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/museum-ai-00.ps.gz}
}
@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},
  year = 2000,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/multi-mcl-isrr-99.ps.gz},
  publisher = {Springer-Verlag},
  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},
  year = 2000,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/particle-chapter-00.ps.gz},
  publisher = {Springer Verlag},
  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,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/multi-mcl-journal-00.ps.gz}
}
@incollection{Knoll00Robotik,
  author = {Knoll, A. and Burgard, W. and Christaller, Th.},
  title = {Robotik},
  booktitle = {Handbuch der K{\"u}nstlichen Intelligenz},
  year = 2000,
  publisher = {Oldenbourg},
  editor = {G{\"o}rz, G. and Rollinger, C.-R. and
                   Schneeberger, J.},
  note = {In German}
}
@article{Sch00Sta,
  author = {Schulz, D. and Burgard, W. and Cremers, A.B.},
  title = {State Estimation Techniques for 3D- Visualizations of Web-based Tele-operated Mobile Robots},
  journal = {Proc.~of the German Conference on Artificial Intelligence (KI), Germany},
  volume = {4},
  year = 2000,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/fb_burgard.pdf}
}
@article{Sch99Web,
  author = {Schulz, D. and Burgard, W. and Fox, D. and Thrun, S. and Cremers, A.B.},
  title = {Web Interfaces for Mobile Robots in Public Places},
  journal = {IEEE Robotics \& Automation Magazine},
  year = 2000,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/web-ram-00.ps.gz}
}
@inproceedings{Sim00Coo,
  author = {Simmons, R. and Apfelbaum, D. and Burgard, W. and Fox, D. and Moors, M. and Thrun, S. and Younes, H.},
  title = {Coordination for Multi-Robot Exploration and Mapping},
  booktitle = {Proc.~of the National Conference on Artificial Intelligence (AAAI)},
  year = 2000,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/exploration-AAAI2000.ps.gz}
}
@inproceedings{Thr00Mon,
  author = {Thrun, S. and Fox, D. and Burgard, W.},
  title = {Monte {C}arlo Localization with Mixture Proposal Distributions},
  booktitle = {Proc.~of the National Conference on Artificial Intelligence (AAAI)},
  year = 2000,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/thrun.mclmix.ps.gz}
}
@inproceedings{Thr00Rea,
  author = {Thrun, S. and Burgard, W. and Fox, D.},
  title = {A Real-Time Algorithm for Mobile Robot Mapping With Applications to Multi-Robot and 3D Mapping},
  booktitle = {Proc.~of the IEEE International Conference on Robotics \& Automation (ICRA)},
  year = 2000,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/thrun.map3d.ps.gz}
}
@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,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/thrun99ki.pdf},
  publisher = {Springer Verlag}
}
@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,
  doi = {10.1109/ROBOT.1999.770401},
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/thrun99icra.pdf}
}
@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{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,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/ras-special-sirs-97.ps.gz}
}
@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},
  volume = {16},
  number = {2},
  pages = {31--38},
  year = 1995,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/rhino-ai-magazine.ps.gz}
}
@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,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/dissertation_burgard.pdf}
}
@incollection{Bur95Goa,
  author = {Burgard, W},
  title = {Goal-directed forward chaining: A tuple- oriented bottom-up approach},
  booktitle = {Logic Programming: Formal Methods and Practical Applications},
  year = 1995,
  publisher = {Elsevier Science B.V.},
  editor = {Beierle, Ch. and Pl{\"u}mer, L.}
}
@inproceedings{Bur96Est,
  author = {Burgard, W. and Fox, D. and Hennig, D. and Schmidt, T.},
  title = {Estimating the Absolute Position of a Mobile Robot Using Position Probability Grids},
  booktitle = {Proc.~of the National Conference on Artificial Intelligence (AAAI)},
  year = 1996,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/localize-aaai-96.pdf}
}
@inproceedings{Bur96Kno,
  author = {Burgard, W. and Cremers, A.B. and Fox, D. and Heidelbach, M. and Kappel, A.M. and L{\"u}ttring\-haus-Kappel, S.},
  title = {Knowledge-enhanced {CO}-monitoring in Coal Mines},
  booktitle = {Proc.~of the Ninth International Conference on Industrial \& Engineering Applications of Artificial Intelligence \& Expert Systems},
  year = 1996,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/iea-aie.ps.gz}
}
@inproceedings{Bur96Log,
  author = {Burgard, W. and Cremers, A.B. and Fox, D. and Heidelbach, M. and Kappel, A.M. and L{\"u}ttringhaus-Kappel, S.},
  title = {Logic Programming Tools Applied to Fire Detection in Hard-coal Mines},
  booktitle = {Proc.~of the Joint International Conference and Symposium on Logic Programming},
  year = 1996
}
@inproceedings{Bur96Pos,
  author = {Burgard, W. and Fox, D. and Hennig, D. and Schmidt, T.},
  title = {Position Tracking with Position Probability Grids},
  booktitle = {Proc.~of the First Euromicro Workshop on Advanced Mobile Robots},
  year = 1996,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/tracking.ps.gz},
  publisher = {IEEE Computer Society Press}
}
@inproceedings{Bur97Act,
  author = {Burgard, W. and Fox, D. and Thrun, S.},
  title = {Active Mobile Robot Localization},
  booktitle = {Proc.~of the International Joint Conference on Artificial Intelligence (IJCAI)},
  year = 1997,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/active-ijcai-97.ps.gz}
}
@inproceedings{Bur97Fas,
  author = {Burgard, W. and Fox, D. and Hennig, D.},
  title = {Fast Grid-Based Position Tracking for Mobile Robots},
  booktitle = {Proc.~of the German Conference on Artificial Intelligence (KI), Germany},
  year = 1997,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/tracking-ki-97.ps.gz},
  publisher = {Springer Verlag}
}
@misc{Bur97Mus,
  author = {Burgard, W. and Cremers, A. B. and Fox, D. and H{\"a}hnel, D. and Lakemeyer, G. and Schulz, D. and Steiner, W. and Thrun, S.},
  title = {The {{\em RHINO}} museum tour-guide project},
  year = 1997,
  howpublished = {\tt http://www.iai.uni-
                   bonn.de/\symbol{126}rhino/tourguide}
}
@inproceedings{Bur97aAct,
  author = {Burgard, W. and Fox, D. and Thrun, S.},
  title = {Active Mobile Robot Localization by Entropy Minimization},
  booktitle = {Proc.~of the Second Euromicro Workshop on Advanced Mobile Robots},
  year = 1997,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/active-eurobot-97.ps.gz},
  publisher = {IEEE Computer Society Press}
}
@inproceedings{Bur98DML,
  author = {Burgard, W. and Derr, A. and Fox, D. and Cremers, A.B.},
  title = {Integrating global position estimation and position tracking for mobile robots: the {D}ynamic {M}arkov {L}ocalization approach},
  booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year = 1998,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/dml-iros-98.ps.gz}
}
@inproceedings{Bur98Int,
  author = {Burgard, W. and Cremers, A.B. and Fox, D. and H{\"a}hnel, D. and Lakemeyer, G. and Schulz, D. and Steiner, W. and Thrun, S.},
  title = {The Interactive Museum Tour-Guide Robot},
  booktitle = {Proc.~of the National Conference on Artificial Intelligence (AAAI)},
  year = 1998,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/museum-aaai98.ps.gz}
}
@inproceedings{Bur98Mus,
  author = {Burgard, W. and Cremers, A.B. and Fox, D. and H{\"a}hnel, D. and Lakemeyer, G. and Schulz, D. and Steiner, W. and Thrun, S.},
  title = {The Museum Tour-Guide Robot {RHINO}},
  booktitle = {Proc.~of Fachgespr{\"a}ch Autonome Mobile Systeme {(AMS'98)}},
  year = 1998,
  address = {Karlsruhe, Germany}
}
@inproceedings{Bur98Rea,
  author = {Burgard, W. and Fox, D. and H{\"a}hnel, D. and Lakemeyer, G. and Schulz, D. and Steiner, W. and Thrun, S. and Cremers, A.B.},
  title = {Real Robots for the Real World --- The \emph{RHINO} Museum Tour-guide Project},
  booktitle = {Proc.~of the AAAI 1998 Spring Symposium on Integrating Robotics Research: Taking the Next Leap},
  year = 1998
}
@incollection{Bur98Ver,
  author = {Burgard, W. and Cremers, A.B. and Fox, D. and H{\"a}hnel, D. and Kappel, A.M. and L{\"u}ttring\-haus{-}Kappel, S.},
  title = {{V}erbesserte {B}randfr{\"u}herkennung im {S}teinkohlenbergbau durch {V}orhersage von {CO-K}on\-zen\-tra\-tio\-nen},
  booktitle = {KI Themenheft Data Mining},
  volume = {1},
  year = 1998,
  publisher = {ScienTec Publishing GmbH},
  note = {In German}
}
@inproceedings{Bur99Son,
  author = {Burgard, W. and Fox, D. and Jans, H. and Matenar, C. and Thrun, S.},
  title = {Sonar-Based Mapping of Large-Scale Mobile Robot Environments Using {EM}},
  booktitle = {Proc.~of the International Conference on Machine Learning (ICML)},
  year = 1999,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/em-mapping-icml-99.ps.gz}
}
@inproceedings{Burgard90Efficiency,
  author = {Burgard, W.},
  title = {Efficiency Considerations on Goal-Directed Forward Chaining for Logic Programs},
  booktitle = {Proceedings of the 4th workshop on Computer Science Logic (CSL)},
  year = 1990
}
@inproceedings{Del99Mon,
  author = {Dellaert, F. and Fox, D. and Burgard, W. and Thrun, S.},
  title = {Monte {C}arlo {L}ocalization for Mobile Robots},
  booktitle = {Proc.~of the IEEE International Conference on Robotics \& Automation (ICRA)},
  year = 1999,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/sampling-icra99.ps.gz}
}
@inproceedings{Del99Usi,
  author = {Dellaert, F. and Burgard, W. and Fox, D. and Thrun, S.},
  title = {Using the Condensation Algorithm for Robust, Vision-based Mobile Robot Localization},
  booktitle = {Proc.~of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR)},
  year = 1999,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/sampling-vision-cvpr-99.ps.gz}
}
@proceedings{EUROBOT99,
  title = {Proc.~of the third {European} Workshop on Advanced Mobile Robots (EUROBOT)},
  year = 1999,
  editor = {Burgard, W. and Nehmzow, U. and Vestli, S. and
                   Schweizer, G.}
}
@inproceedings{Fox96Con,
  author = {Fox, D. and Burgard, W. and Thrun, S.},
  title = {Controlling Synchro-drive Robots with the Dynamic Window Approach to Collision Avoidance},
  booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year = 1996,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/colli-iros.ps.gz}
}
@article{Fox97Dyn,
  author = {Fox, D. and Burgard, W. and Thrun, S.},
  title = {The Dynamic Window Approach to Collision Avoidance},
  journal = {IEEE Robotics \& Automation Magazine},
  volume = {4},
  number = {1},
  year = 1997,
  month = mar,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/colli-ieee.ps.gz},
  abstract = {This approach, designed for mobile robots equipped
                   with synchro-drives, is derived directly from the
                   motion dynamics of the robot. In experiments, the
                   dynamic window approach safely controlled the
                   mobile robot RHINO at speeds of up to 95 cm/sec, in
                   populated and dynamic environments.}
}
@article{Fox98Act,
  author = {Fox, D. and Burgard, W. and Thrun, S.},
  title = {Active {M}arkov Localization for Mobile Robots},
  journal = {Robotics and Autonomous Systems},
  volume = {25},
  pages = {195--207},
  year = 1998,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/ras-active.ps.gz}
}
@inproceedings{Fox98Hyb,
  author = {Fox, D. and Burgard, W. and Thrun, S. and Cremers, A.B.},
  title = {A Hybrid Collision Avoidance Method For Mobile Robots},
  booktitle = {Proc.~of the IEEE International Conference on Robotics \& Automation (ICRA)},
  year = 1998,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/obstserver-icra98.ps.gz}
}
@inproceedings{Fox98Pos,
  author = {Fox, D. and Burgard, W. and Thrun, S. and Cremers, A.B.},
  title = {Position Estimation for Mobile Robots in Dynamic Environments},
  booktitle = {Proc.~of the National Conference on Artificial Intelligence (AAAI)},
  year = 1998,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/selection-aaai98.ps.gz}
}
@inproceedings{Fox99Col,
  author = {Fox, D. and Burgard, W. and Kruppa, H. and Thrun, S.},
  title = {Collaborative Multi-Robot Localization},
  booktitle = {Proc.~of the German Conference on Artificial Intelligence (KI), Germany},
  year = 1999,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/multi-mcl-ki-99.ps.gz},
  publisher = {Springer Verlag}
}
@incollection{Fox99Mar,
  author = {Fox, D. and Burgard, W. and Thrun, S.},
  title = {Markov Localization for Reliable Robot Navigation and People Detection},
  booktitle = {Modelling and Planning for Sensor-Based Intelligent Robot Systems},
  year = 1999,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/localize-dagstuhl-99.ps.gz},
  publisher = {Springer Verlag},
  series = {LNCS}
}
@article{Fox99MarB,
  author = {Fox, D. and Burgard, W. and Thrun, S.},
  title = {Markov Localization for Mobile Robots in Dynamic Environments},
  journal = {Journal of Artificial Intelligence Research (JAIR)},
  volume = {11},
  pages = {391--427},
  year = 1999,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/localize-jair-99.ps.gz}
}
@inproceedings{Fox99Mon,
  author = {Fox, D. and Burgard, W. and Dellaert, F. and Thrun, S.},
  title = {Monte {C}arlo {L}ocalization: Efficient Position Estimation for Mobile Robots},
  booktitle = {Proc.~of the National Conference on Artificial Intelligence (AAAI)},
  year = 1999,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/sampling-aaai-99.ps.gz}
}
@techreport{Fox99Mul,
  author = {Fox, D. and Burgard, W. and Kruppa, H. and Thrun, S.},
  title = {A {M}onte {C}arlo Algorithm for Multi-Robot Localization},
  number = {CMS-CS-99-120},
  year = 1999,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/multi-tr.ps.gz},
  institution = {Carnegie Mellon University}
}
@inproceedings{Fox99Pro,
  author = {Fox, D. and Burgard, W. and Thrun, S.},
  title = {Probabilistic Methods for Mobile Robot Mapping},
  booktitle = {Proc.~of the IJCAI-99 Workshop on Adaptive Spatial Representations of Dynamic Environments},
  year = 1999,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/mapping-ijcai-99.ps.gz},
  address = {Stockholm, Sweden}
}
@inproceedings{Gut98Exp,
  author = {Gutmann, J.-S. and Burgard, W. and Fox, D. and Konolige, K.},
  title = {An Experimental Comparison of Localization Methods},
  booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year = 1998,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/comparison-iros-98.ps.gz}
}
@inproceedings{Hae98GOL,
  author = {H{\"a}hnel, D. and Burgard, W. and Lakemeyer, G.},
  title = {{GOLEX} --- Bridging the Gap between Logic ({GOLOG}) and a Real Robot},
  booktitle = {Proc.~of the 22nd German Conference on Artificial Intelligence (KI'98)},
  year = 1998,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/ki98.ps.gz},
  publisher = {Springer Verlag},
  series = {LNCS},
  address = {Bremen, Germany}
}
@proceedings{KI99,
  title = {Proc.~of the 22nd German Conference on Artificial Intelligence (KI)},
  year = 1999,
  publisher = {Springer Verlag},
  series = {LNCS},
  editor = {Burgard, W. and Christaller, Th. and Cremers,
                   A.B.}
}
@inproceedings{Roy98Coa,
  author = {Roy, N. and Burgard, W. and Fox, D. and Thrun, S.},
  title = {Coastal Navigation: Robot Motion with Uncertainty},
  booktitle = {Proc.~of the 1998 AAAI Fall Symposium},
  year = 1998
}
@inproceedings{Roy99Coa,
  author = {Roy, N. and Burgard, W. and Fox, D. and Thrun, S.},
  title = {Coastal Navigation: Mobile Robot Navigation with Uncertainty in Dynamic Environments},
  booktitle = {Proc.~of the IEEE International Conference on Robotics \& Automation (ICRA)},
  year = 1999,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/coastal-icra99.ps.gz}
}
@inproceedings{Sch99Pro,
  author = {Sch{\"o}nherr, F. and Hertzberg, J. and Burgard, W.},
  title = {Probabilistic Mapping of Unexpected Objects by a Mobile Robot},
  booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year = 1998
}
@inproceedings{Sch99Rob,
  author = {Schulz, D. and Burgard, W. and Cremers, A.B.},
  title = {Robust Visualization of Navigation Experiments with Mobile Robots over the Internet},
  booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year = 1999,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/iros99.ps.gz}
}
@incollection{Thr98Map,
  author = {Thrun, S. and B\"{u}cken, A. and Burgard, W. and Fox, D. and Fr\"{o}hlinghaus, T. and Hennig, D. and Hofmann, T. and Krell, M. and Schimdt, T.},
  title = {Map Learning and High-Speed Navigation in \mbox{RHINO}},
  booktitle = {Artificial Intelligence and MobileRobots},
  year = 1998,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/rhino-ai-book-chapter.ps.gz},
  publisher = {MIT/AAAI Press},
  editor = {Kortenkamp, David and Bonasso, R.P. and Murphy,
                   R.},
  address = {Cambridge, MA}
}
@inproceedings{Thr97Sta,
  author = {Thrun, S. and Fox, D. and Burgard, W.},
  title = {Probabilistic State Estimation in Robotics},
  booktitle = {Proc.~of the Workshop on Self-Organization of Adaptive Behavior, Ilmenau, Germany},
  year = 1997,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/thrun.SOAVE97.ps.gz},
  publisher = {VDI-Verlag}
}
@inproceedings{Thr98Int,
  author = {Thrun, S. and Gutmann, J.-S. and Fox, D. and Burgard, W. and Kuipers, B.},
  title = {Integrating Topological and Metric Maps for Mobile Robot Navigation: A Statistical Approach},
  booktitle = {Proc.~of the National Conference on Artificial Intelligence (AAAI)},
  year = 1998,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/map-aaai98.ps.gz}
}
@inproceedings{Thr98ProA,
  author = {Thrun, S. and Fox, D. and Burgard, W.},
  title = {Probabilistic Mapping of an Environment by a Mobile Robot},
  booktitle = {Proc.~of the IEEE International Conference on Robotics \& Automation (ICRA)},
  year = 1998,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/thrun.icra98-map.ps.gz}
}
@article{Thr98ProB,
  author = {Thrun, S. and Fox, D. and Burgard, W.},
  title = {A Probabilistic Approach to Concurrent Mapping and Localization for Mobile Robots},
  journal = {Machine Learning},
  volume = {31},
  pages = {29--53},
  year = 1998,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/maploc-machine-learning.ps.gz},
  note = {Also appeared in {\em Autonomous Robots} 5, pp.
                   253--271, joint issue}
}
@inproceedings{Thr99Mon,
  author = {Thrun, S. and Langford, J. and Fox, D.},
  title = {Monte {C}arlo Hidden {M}arkov Models: Learning Non-Parametric Models of Partially Observable Stochastic Processes},
  booktitle = {Proc.~of the International Conference on Machine Learning (ICML)},
  year = 1999,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/thrun.mchmm.ps.gz}
}
@inproceedings{burgard96Object,
  author = {W. Burgard and A. Cremers and T. Kolbe and L. Pl{\"u}mer},
  title = {Object construction by deduction for a 3D geo- information system of a mine},
  booktitle = {Proceedings of the 4th Int.~Conf.~on Practical Application of Prolog (PAP)},
  year = 1996
}
@proceedings{euromicro96,
  title = {Proc.~of the First Euromicro Workshop on Advanced Mobile Robots (EUROBOT'96)},
  year = 1996,
  publisher = {IEEE Computer Society Press},
  key = {EUROMICRO96}
}
@inproceedings{Hop98Virtual,
  author = {Hopp, A. and Schulz, D. and Burgard, W. and Cremers, A.B. and Fellner, D.},
  title = {Virtual Reality Visualization of Distributed Tele-Experiments},
  booktitle = {IEEE Industrial Electronics Conference (IECON)},
  year = 1998,
  url = {http://ais.informatik.uni-freiburg.de/publications/papers/iecon98.ps.gz}
}