all.bib
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@comment{{Command line: /usr/local/bin/bib2bib -ob all.bib ais.bib beinhofer.bib bennewitz-ais.bib burgard-nonais.bib grzonka.bib hess_first_author.bib joho-ais.bib kretzschmar.bib kuemmerl.bib lau.bib meyerdelius.bib muellerj.bib omartine.bib pfaff.bib plagemann.bib roewekaemper-firstauthor-ais.bib rottmann.bib sprunk-firstauthor-ais.bib stachniss-ais.bib steder.bib sturm.bib wurm.bib}}
@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)},
address = {Toronto, Canada},
month = {July},
year = {2012},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/meyerdelius12aaai.pdf}
}
@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 = {October},
address = {San Francisco, USA},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/tipaldi11irosWS.pdf}
}
@techreport{meyerdelius11alufr,
title = {Grid-Based Models for Dynamic Environments},
author = {Meyer-Delius, D. and Beinhofer, M. and Burgard, W.},
institution = {Dept.~of Computer Science, University of Freiburg},
month = {July},
year = {2011},
url = {http://tr.informatik.uni-freiburg.de/reports/report265/report00265.pdf}
}
@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)},
address = {Shanghai, China},
month = {May},
year = {2011},
pages = {5173-5178},
doi = {10.1109/ICRA.2011.5980111},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/meyerdelius11icra.pdf}
}
@inproceedings{hornung09iros,
author = {A. Hornung and H. Strasdat and M. Bennewitz and W. Burgard},
title = {Learning Efficient Policies for Vision-based Navigation},
booktitle = {Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = 2009,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/hornung09iros.pdf}
}
@inproceedings{pretto09icra,
author = {A. Pretto and E. Menegatti and M. Bennewitz and W. Burgard and E. Pagello},
title = {A Visual Odometry Framework Robust to Motion Blur},
booktitle = {Proc.~of the IEEE International Conference on Robotics \& Automation (ICRA)},
year = 2009,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/pretto09icra.pdf}
}
@phdthesis{bennewitz04phd,
author = {Bennewitz, M.},
title = {Mobile Robot Navigation in Dynamic Environments},
school = {University of Freiburg, Department of Computer Science},
year = {2004},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/thesis_bennewitz.pdf}
}
@incollection{bennewitz05geriatrie,
author = {Bennewitz, M. and Burgard, W.},
title = {Serviceroboter f{\"u}r den {P}flegebereich},
booktitle = {Handbuch Geriatrie. Lehrbuch für Praxis und Klinik},
publisher = {Deutsche Krankenhaus Verlagsgesellschaft mbH},
year = {2005},
editor = {A. M. Raem and H. Fenger and G. F. Kolb and T. Nikolaus and L. Pientka and R. Rychlik and T. V{\"o}mel},
address = {D{\"u}sseldorf},
note = {In German}
}
@article{bennewitz05ijrr,
author = {Bennewitz, M. and Burgard, W. and Cielniak, G. and Thrun, S.},
title = {Learning Motion Patterns of People for Compliant Robot Motion},
year = 2005,
journal = {The International Journal of Robotics Research (IJRR)},
volume = {24},
number = {1},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/bennewitz05ijrr.pdf}
}
@article{bennewitz02ras,
author = {Bennewitz, M. and Burgard, W. and Thrun, S.},
title = {Finding and Optimizing Solvable Priority Schemes for Decoupled Path Planning Techniques for Teams of Mobile Robots},
year = 2002,
journal = {Robotics and Autonomous Systems},
volume = {41},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/bennewitz02ras.pdf}
}
@article{beetz01Iis,
author = {Beetz, M. and Arbuckle, T. and Belker, T. and Bennewitz, M. and Burgard, W. and Cremers, A.~B. and Fox, D. and Grosskreutz, H. and H{\"a}hnel, D. and Schulz, D.},
title = {Integrated Plan-based Control of Autonomous Service Robots in Human Environments},
year = 2001,
journal = {IEEE Intelligent Systems},
volume = {16},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/beetz01Iis.pdf}
}
@article{thrun00ijrr,
author = {Thrun, S. and Beetz, M. and Bennewitz, M. and Burgard, W. and Cremers, A.~B. and Dellaert, D. and Fox, D. and H{\"a}hnel, D. and Rosenberg, C. and Schulte, J. and Schulz, D.},
title = {Probabilistic Algorithms and the Interactive Museum Tour-Guide Robot Minerva},
year = 2000,
journal = {International Journal of Robotics Research (IJRR)},
volume = {19},
number = {11},
pages = {972-999},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/thrun00ijrr.pdf}
}
@inproceedings{axenbeck08humanoids,
author = {T. Axenbeck and M. Bennewitz and S. Behnke and W. Burgard},
title = {Recognizing Complex, Parameterized Gestures from Monocular Image Sequences},
booktitle = {Proc.~of the IEEE-RAS International Conference on Humanoid Robots (Humanoids)},
year = 2008,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/axenbeck08humanoids.pdf}
}
@inproceedings{cielniak03ecmr,
author = {Cielniak, G. and Bennewitz, M. and Burgard, W.},
title = {Robust Localization of Persons Based on Learned Motion Patterns},
booktitle = {Proc.~of the European Conference on Mobile Robots (ECMR)},
year = 2003,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/cielniak03ecmr.pdf}
}
@inproceedings{cielniak03ijcai,
author = {Cielniak, G. and Bennewitz, M. and Burgard, W.},
title = {Where is ...? {L}earning and Utilizing Motion Patterns of Persons with Mobile Robots},
booktitle = {Proc.~of the International Joint Conference on Artificial Intelligence (IJCAI)},
year = 2003,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/cielniak03ijcai.pdf}
}
@inproceedings{bennewitz03icra,
author = {Bennewitz, M. and Burgard, W. and Thrun, S.},
title = {Adapting Navigation Strategies Using Motions Patterns of People},
booktitle = {Proc.~of the IEEE International Conference on Robotics \& Automation (ICRA)},
year = 2003,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/bennewitz03icra.pdf}
}
@inproceedings{bennewitz02iros,
author = {Bennewitz, M. and Burgard, W. and Thrun, S.},
title = {Using {EM} to Learn Motion Behaviors of Persons with Mobile
Robots},
booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = 2002,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/bennewitz02iros.pdf}
}
@inproceedings{bennewitz02icra,
author = {Bennewitz, M. and Burgard, W. and Thrun, S.},
title = {Learning Motion Patterns of Persons for Mobile Service Robots},
booktitle = {Proc.~of the IEEE International Conference on Robotics \& Automation (ICRA)},
year = 2002,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/bennewitz02icra.pdf}
}
@inproceedings{bennewitz01iros,
author = {Bennewitz, M. and Burgard, W. and Thrun, S.},
title = {Exploiting Constraints During Prioritized Path Planning for Teams of Mobile Robots},
booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = 2001,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/bennewitz01iros.pdf}
}
@inproceedings{bennewitz01ki,
author = {Bennewitz, M. and Burgard, W. and Thrun, S.},
title = {Constraint-based Optimization of Priority Schemes for Decoupled Path Planning Techniques},
booktitle = {Proc. of the 24th German / 9th Austrian Conference on Artificial
Intelligence},
year = 2001,
publisher = {Springer Verlag},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/bennewitz01ki.pdf}
}
@inproceedings{bennewitz01icra,
author = {Bennewitz, M. and Burgard, W. and Thrun, S.},
title = {Optimizing Schedules for Prioritized Path Planning of Multi-Robot Systems},
booktitle = {Proc.~of the IEEE International Conference on Robotics \& Automation (ICRA)},
year = 2001,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/bennewitz01icra.pdf}
}
@inproceedings{thrun99ki,
author = {Thrun, S. and Bennewitz, M. and Burgard, W. and Cremers, A.B. and Dellaert, F. and Fox, D. and H{\"a}hnel, D. and Rosenberg, C. and Roy, N. and Schulte, J. and Schulz, D.},
title = {MINERVA: A Tour-Guide Robot that learns},
booktitle = {Proc.~of the the 23rd German Conference on Artificial Intelligence (KI) },
year = 1999,
publisher = {Springer Verlag},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/thrun99ki.pdf}
}
@inproceedings{thrun99icra,
author = {Thrun, S. and Bennewitz, M. and Burgard, W. and Dellaert, F. and Fox, D. and H{\"a}hnel, D. and Rosenberg, C. and Roy, N. and Schulte, J. and Schulz, D.},
title = {MINERVA: A Second-Generation Museum Tour-Guide Robot},
booktitle = {Proc.~of the IEEE International Conference on Robotics \& Automation (ICRA)},
year = 1999,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/thrun99icra.pd}
}
@inproceedings{thrun99fsr,
author = {Thrun, S. and Bennewitz, M. and Burgard, W. and Cremers, A.B. and Dellaert, F. and Fox, D. and H{\"a}hnel, D. and Rosenberg, C. and Roy, N. and Schulte, J. and Schulz, D.},
title = {Experiences with two Deployed Interactive Tour-guide Robots},
booktitle = {Proc.~of the International Conference on Field and Service Robotics (FSR)},
year = 1999,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/thrun99fsr.pdf}
}
@inproceedings{bennewitz08rssws,
author = {M. Bennewitz and T. Axenbeck and S. Behnke and W. Burgard},
title = {Robust Recognition of Complex Gestures for Natural Human-Robot Interaction},
booktitle = {Proc. of the Workshop on Interactive Robot Learning at Robotics: Science and Systems Conference (RSS)},
year = 2008
}
@inproceedings{bennewitz04soave,
author = {Bennewitz, M. and Pastrana, J. and Burgard, W.},
title = {Active Localization of Persons with a Mobile Robot Based on
Learned Motion Behaviors},
booktitle = {Proc.~of the third Workshop on Selforganization of Adaptive Behavior (SOAVE)},
year = 2004,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/bennewitz04soave.pdf}
}
@inproceedings{bennewitz03vspets,
author = {Bennewitz, M. and Cielniak, G. and Burgard, W.},
title = {Utilizing Learned Motion Patterns to Robustly Track Persons},
booktitle = {Proc.~of the Joint IEEE International Workshop on Visual Surveillance and Performance Evaluation of Tracking and Surveillance (VS-PETS)},
year = 2003,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/bennewitz03vspets.pdf}
}
@inproceedings{bennewitz02robotik,
author = {Bennewitz, M. and Burgard, W. and Thrun, S.},
title = {Learning Motion Patterns of Persons for Mobile Service Robots},
booktitle = {Proc. of the VDI-Conference Robotik 2002 (Robotik)},
year = 2002
}
@inproceedings{bennewitz01sirs,
author = {Bennewitz, M. and Burgard, W.},
title = {Finding Solvable Priority Schemes for Decoupled Path Planning Techniques for Teams of Mobile Robots},
booktitle = {Proc.~of the 9th International Symposium on Intelligent Robotic Systems (SIRS)},
year = 2001,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/bennewitz01sirs.pdf}
}
@inproceedings{bennewitz00ams,
author = {Bennewitz, M. and Burgard, W.},
title = {An Experimental Comparison of Path Planning Techniques for Teams of Mobile Robots},
booktitle = {Proc.~of the Fachgespr{\"a}che Autonome Mobile Systeme (AMS)},
year = 2000,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/bennewitz00ams.pdf}
}
@inproceedings{bennewitz00sirs,
author = {Bennewitz, M. and Burgard, W.},
title = {Coordinating the Motions of Multiple Mobile Robots Using a Probabilistic Model},
booktitle = {Proc.~of the 8th International Symposium on Intelligent Robotic Systems (SIRS)},
year = 2000,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/bennewitz00sirs.pdf}
}
@inproceedings{bennewitz00ecaiws,
author = {Bennewitz, M. and Burgard, W.},
title = {A Probabilistic Method for Planning Collision-free Trajectories of Multiple Mobile Robots},
booktitle = {Proc.~of the Workshop ``Service Robotics - Applications and Safety Issues in an Emerging Market'' at the 14th European Conference on Artificial Intelligence (ECAI)},
year = 2000,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/bennewitz00ecaiws.pdf}
}
@inproceedings{Bee97Act,
author = {Beetz, M. and Burgard, W. and Cremers, A.B. and Fox, D.},
title = {Active Localization for Service Robot Applications},
booktitle = {Proc.~of the 5th Symposium for Intelligent Robotics Systems
(SIRS'97), Stockholm, Sweden},
year = 1997
}
@article{Bee98Int,
author = {Beetz, M. and Burgard, W. and Fox, D. and Cremers, A.B.},
title = {Integrating Active Localization into High-level Robot
Control Systems},
journal = {Robotics and Autonomous Systems},
volume = {23},
pages = {205-220},
year = 1998
}
@inproceedings{Blanco02Image,
author = {Blanco, J. and Burgard, W. and Sanz, R. and Fernandez, J.L.},
title = {Fast Face Detection for Mobile Robots by Integrating Laser
Range Data with Vision},
booktitle = {Proc.~of the International Conference on Advanced Robotics
(ICAR)},
year = {2003}
}
@article{Buh95Mob,
author = {Buhmann, J. and Burgard, W. and Cremers, A.B. and Fox,
D. and Hofmann, T. and Schneider, F. and Strikos, J. and
Thrun, S.},
title = {The Mobile Robot \mbox{R}hino},
journal = {AI Magazine},
year = {1995},
pages = {31-38},
month = {},
volume = {16},
number = {2}
}
@inproceedings{Bur00Col,
author = {Burgard, W. and Moors, M. and Fox, D. and Simmons, R. and
Thrun, S.},
title = {Collaborative Multi-Robot Exploration},
year = {2000},
booktitle = {Proc.~of the IEEE International Conference on
Robotics \& Automation (ICRA)}
}
@incollection{Bur02Col,
author = {Burgard, W. and Moors, M. and Schneider, F.},
title = {Collaborative Exploration of Unknown Environments with Teams
of Mobile Robots},
booktitle = {Advances in Plan-Based Control of Robotic Agents },
editor = {Beetz, M. and Hertzberg, J. and Ghallab, M. and Pollack,
M.E.},
publisher = {Springer Verlag},
year = {2002},
series = {LNCS},
volume = {2466}
}
@mastersthesis{Bur86PRO,
author = {Burgard, W.},
title = {{PROSPERT}: An Expert System for the Syntesis of Chemical
Processes},
school = {University of Dortmund, Department of Computer Science},
year = 1987,
note = {In German}
}
@phdthesis{Bur91Goa,
author = {Burgard, W.},
title = {Goal-directed Forward Chaining for Logic Programs},
school = {University of Bonn, Department of Computer Science},
year = {1991}
}
@incollection{Bur95Goa,
author = {Burgard, W},
title = {Goal-directed forward chaining: A tuple-oriented bottom-up
approach},
editor = {Beierle, Ch. and Pl{\"u}mer, L.},
booktitle = {Logic Programming: Formal Methods and Practical
Applications},
publisher = {Elsevier Science B.V.},
year = {1995}
}
@inproceedings{Bur96Est,
author = {Burgard, W. and Fox, D. and Hennig, D. and Schmidt, T.},
title = {Estimating the Absolute Position of a Mobile Robot Using
Position Probability Grids},
booktitle = {Proc.~of the National Conference on Artificial Intelligence (AAAI)},
year = 1996
}
@inproceedings{Bur96Kno,
author = {Burgard, W. and Cremers, A.B. and Fox, D. and Heidelbach,
M. and Kappel, A.M. and L{\"u}ttring\-haus-Kappel, S.},
title = {Knowledge-enhanced {CO}-monitoring in Coal Mines},
booktitle = {Proc.~of the Ninth International Conference on Industrial \&
Engineering Applications of Artificial Intelligence \&
Expert Systems},
year = 1996
}
@inproceedings{Bur96Log,
author = {Burgard, W. and Cremers, A.B. and Fox, D. and Heidelbach,
M. and Kappel, A.M. and L{\"u}ttringhaus-Kappel, S.},
title = {Logic Programming Tools Applied to Fire Detection in
Hard-coal Mines},
booktitle = {Proc.~of the Joint International Conference and Symposium on
Logic Programming},
year = 1996
}
@inproceedings{Bur96Pos,
author = {Burgard, W. and Fox, D. and Hennig, D. and Schmidt, T.},
title = {Position Tracking with Position Probability Grids},
booktitle = {Proc.~of the First Euromicro Workshop on Advanced Mobile
Robots},
year = 1996,
publisher = {IEEE Computer Society Press}
}
@inproceedings{Bur97Act,
author = {Burgard, W. and Fox, D. and Thrun, S.},
title = {Active Mobile Robot Localization},
booktitle = {Proc.~of the International Joint Conference on
Artificial Intelligence (IJCAI)},
year = 1997
}
@inproceedings{Bur97Fas,
author = {Burgard, W. and Fox, D. and Hennig, D.},
title = {Fast Grid-Based Position Tracking for Mobile Robots},
booktitle = {Proc.~of the German Conference on Artificial
Intelligence (KI), Germany},
year = 1997,
publisher = {Springer Verlag}
}
@misc{Bur97Mus,
author = {Burgard, W. and Cremers, A. B. and Fox, D. and H{\"a}hnel,
D. and Lakemeyer, G. and Schulz, D. and Steiner, W. and
Thrun, S.},
title = {The {{\em RHINO}} museum tour-guide project},
howpublished = {{\tt http/www.cs.uni-bonn.de/\symbol{126}rhino/tourguide}},
year = {1997}
}
@inproceedings{Bur97aAct,
author = {Burgard, W. and Fox, D. and Thrun, S.},
title = {Active Mobile Robot Localization by Entropy Minimization},
booktitle = {Proc.~of the Second Euromicro Workshop on Advanced Mobile
Robots},
year = {1997},
publisher = {IEEE Computer Society Press}
}
@inproceedings{Bur98DML,
author = {Burgard, W. and Derr, A. and Fox, D. and Cremers, A.B.},
title = {Integrating global position estimation and position tracking
for mobile robots: the {D}ynamic {M}arkov {L}ocalization
approach},
booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = 1998
}
@inproceedings{Bur98Int,
author = {Burgard, W. and Cremers, A.B. and Fox, D. and H{\"a}hnel,
D. and Lakemeyer, G. and Schulz, D. and Steiner, W. and
Thrun, S.},
title = {The Interactive Museum Tour-Guide Robot},
booktitle = {Proc.~of the National Conference on Artificial Intelligence (AAAI)},
year = {1998}
}
@inproceedings{Bur98Mus,
author = {Burgard, W. and Cremers, A.B. and Fox, D. and H{\"a}hnel,
D. and Lakemeyer, G. and Schulz, D. and Steiner, W. and
Thrun, S.},
title = {The Museum Tour-Guide Robot {RHINO}},
booktitle = {Proc.~of Fachgespr{\"a}ch Autonome Mobile Systeme
{(AMS'98)}},
year = 1998,
address = {Karlsruhe, Germany}
}
@inproceedings{Bur98Rea,
author = {Burgard, W. and Fox, D. and H{\"a}hnel, D. and Lakemeyer,
G. and Schulz, D. and Steiner, W. and Thrun, S. and Cremers,
A.B.},
title = {Real Robots for the Real World --- The \emph{RHINO} Museum
Tour-guide Project},
booktitle = {Proc.~of the AAAI 1998 Spring Symposium on Integrating
Robotics Research: Taking the Next Leap},
year = {1998}
}
@incollection{Bur98Ver,
author = {Burgard, W. and Cremers, A.B. and Fox, D. and H{\"a}hnel,
D. and Kappel, A.M. and L{\"u}ttring\-haus{-}Kappel, S.},
title = {{V}erbesserte {B}randfr{\"u}herkennung im
{S}teinkohlenbergbau durch {V}orhersage von
{CO-K}on\-zen\-tra\-tio\-nen},
booktitle = {KI Themenheft Data Mining},
publisher = {ScienTec Publishing GmbH},
volume = {1},
year = {1998},
note = {In German}
}
@article{Bur99Exp,
author = {Burgard, W. and Cremers, A.B. and Fox, D. and H{\"a}hnel,
D. and Lakemeyer, G. and Schulz, D. and Steiner, W. and
Thrun, S.},
title = {Experiences with an Interactive Museum Tour-Guide Robot},
journal = {Artificial Intelligence},
year = 2000,
volume = {114},
number = {1-2},
pages = {3-55}
}
@inproceedings{Bur99Son,
author = {Burgard, W. and Fox, D. and Jans, H. and Matenar, C. and
Thrun, S.},
title = {Sonar-Based Mapping of Large-Scale Mobile Robot Environments
Using {EM}},
year = {1999},
booktitle = {Proc.~of the International Conference on Machine Learning (ICML)}
}
@article{Burgard03Tele,
author = {Burgard, W. and Trahanias, P. and H{\"a}hnel, D. and Moors,
M. and Schulz, D. and Baltzakis, H. and Argyros, A.},
title = {Tele-presence in Populated Exhibitions through Web-operated
Mobile Robots},
journal = {Journal of Autonomous Robots},
year = {2003},
volume = 15,
pages = {299-316}
}
@inproceedings{Burgard90Efficiency,
author = {Burgard, W.},
title = {Efficiency Considerations on Goal-Directed Forward Chaining
for Logic Programs},
booktitle = {Proceedings of the 4th workshop on Computer Science Logic
(CSL)},
year = 1990
}
@book{Choset04,
author = {Choset, H. and Lynch, K. and Hutchinson, S. and Kantor,
G. and Burgard, W. and Kavraki, L. and Thrun, S.},
title = {Principles of Robot Motion: Theory, Algorithms and
Implementation},
publisher = {MIT Press},
year = {2005}
}
@inproceedings{Del99Mon,
author = {Dellaert, F. and Fox, D. and Burgard, W. and Thrun, S.},
title = {Monte {C}arlo {L}ocalization for Mobile Robots},
booktitle = {Proc.~of the IEEE International Conference on
Robotics \& Automation (ICRA)},
year = 1999
}
@inproceedings{Del99Usi,
author = {Dellaert, F. and Burgard, W. and Fox, D. and Thrun, S.},
title = {Using the Condensation Algorithm for Robust, Vision-based
Mobile Robot Localization},
booktitle = {Proc.~of the IEEE Computer Society Conference on
Computer Vision and Pattern Recognition (CVPR)},
year = 1999
}
@proceedings{ECMR03,
title = {Proc.~of the first {European} Conference on Mobile Robots
(ECMR)},
year = 2003,
editor = {Borkowski, A. and Burgard, W. and Zingaretti, P.}
}
@proceedings{EUROBOT99,
title = {Proc.~of the third {European} Workshop on Advanced Mobile
Robots (EUROBOT)},
editor = {Burgard, W. and Nehmzow, U. and Vestli, S. and Schweizer,
G.},
year = 1999
}
@incollection{Fox00Eff,
author = {Fox, D. and Burgard, W. and Kruppa, H. and Thrun, S.},
title = {Efficient multi-robot localization based on {M}onte {C}arlo
approximation},
booktitle = {Robotics Research: The Ninth International Symposium},
publisher = {Springer-Verlag},
year = 2000,
editor = {Hollerbach, J. and Koditschek, D.},
address = {London}
}
@incollection{Fox00Par,
author = {Fox, D. and Thrun, S. and Dellaert, F. and Burgard, W.},
title = {Particle filters for mobile robot localization},
booktitle = {Sequential {M}onte {C}arlo Methods in Practice},
publisher = {Springer Verlag},
year = 2000,
editor = {Doucet, A. and de Freitas, N. and Gordon, N.},
address = {New York}
}
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author = {Fox, D. and Burgard, W. and Kruppa, H. and Thrun, S.},
title = {A Probabilistic Approach to Collaborative Multi-Robot
Localization},
journal = {Autonomous Robots},
volume = {8},
number = {3},
year = 2000
}
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author = {Fox, D. and Burgard, W. and Thrun, S.},
title = {Controlling Synchro-drive Robots with the Dynamic Window
Approach to Collision Avoidance},
booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = 1996
}
@article{Fox97Dyn,
author = {Fox, D. and Burgard, W. and Thrun, S.},
title = {The Dynamic Window Approach to Collision Avoidance},
journal = {IEEE Robotics \& Automation Magazine},
volume = 4,
number = 1,
month = mar,
year = 1997,
abstract = { This approach, designed for mobile robots equipped with
synchro-drives, is derived directly from the motion dynamics
of the robot. In experiments, the dynamic window approach
safely controlled the mobile robot RHINO at speeds of up to
95 cm/sec, in populated and dynamic environments. },
keywords = {collision avoidance, mobile robots, reactive motion control,
motion dynamics}
}
@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
}
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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
}
@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
}
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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,
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},
publisher = {Springer Verlag},
year = 1999,
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)},
year = {1999},
pages = {391-427},
volume = {11}
}
@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
}
@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},
institution = {Carnegie Mellon University},
year = 1999,
number = {CMS-CS-99-120}
}
@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,
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
}
@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)},
address = {Bremen, Germany},
year = {1998},
series = {LNCS},
publisher = {Springer Verlag}
}
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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}
}
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author = {H{\"a}hnel, D. and Burgard, W. and Thrun, S.},
title = {Learning compact 3D models of indoor and outdoor
environments with a mobile robot},
journal = {Robotics and Autonomous Systems},
volume = 44,
number = 1,
year = 2003,
pages = {15-27}
}
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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}
}
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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
}
@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)},
year = 2003,
number = 17,
volume = 7,
pages = {579-598}
}
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editor = {Burgard, W. and Christaller, Th. and Cremers, A.B.},
title = {Proc.~of the 22nd German Conference on Artificial
Intelligence (KI)},
publisher = {Springer Verlag},
series = {LNCS},
year = 1999
}
@incollection{Knoll00Robotik,
author = {Knoll, A. and Burgard, W. and Christaller, Th.},
title = {Robotik},
booktitle = {Handbuch der K{\"u}nstlichen Intelligenz},
publisher = {Oldenbourg},
year = 2000,
editor = {G{\"o}rz, G. and Rollinger, C.-R. and Schneeberger, J.},
note = {In German}
}
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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
}
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title = {Proc.~of the Robotics - Science and Systems (RSS)},
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year = {2006}
}
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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
}
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author = {Roy, N. and Burgard, W. and Fox, D. and Thrun, S.},
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in Dynamic Environments},
booktitle = {Proc.~of the IEEE International Conference on
Robotics \& Automation (ICRA)},
year = 1999
}
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author = {Schulz, D. and Burgard, W.},
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Moving Mobile Robot},
journal = {Robotics and Autonomous Systems},
volume = 34,
number = {2-3},
pages = {107-115},
year = 2001
}
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author = {Burgard, W. and Schulz, D.},
title = {Robust Visualization for Web-based Control of Mobile Robots},
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booktitle = {Robots on the Web: Physical Interaction through the
Internet},
publisher = {MIT-Press},
year = 2001
}
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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 = {KI},
volume = 4,
year = 2000
}
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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
}
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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
}
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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}
}
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author = {Schulz, D. and Burgard, W. and Fox, D. and Cremers, A.B.},
title = {Tracking Multiple Moving Targets with a Mobile Robot using
Particle Filters and Statistical Data Association},
booktitle = {Proc.~of the IEEE International Conference on
Robotics \& Automation (ICRA)},
year = 2001
}
@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}
}
@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}
}
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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)},
pages = {99-116},
year = 2003,
volume = 22,
number = 2
}
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author = {Simmons, R. and Apfelbaum, D. and Burgard, W. and Fox,
D. and Moors, M. and Thrun, S. and Younes, H.},
title = {Coordination for Multi-Robot Exploration and Mapping},
booktitle = {Proc.~of the National Conference on Artificial Intelligence (AAAI)},
year = 2000
}
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year = {2000},
booktitle = {Proc.~of the National Conference on Artificial Intelligence (AAAI)}
}
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year = {2000},
booktitle = {Proc.~of the IEEE International Conference on
Robotics \& Automation (ICRA)}
}
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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}},
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publisher = {MIT/AAAI Press},
editor = {Kortenkamp, David and Bonasso, R.P. and Murphy, R.},
address = {Cambridge, MA},
year = {1998}
}
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year = 1997,
publisher = {VDI-Verlag}
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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
}
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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
}
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year = {1998},
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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 second generation mobile tour-guide robot},
year = {1999},
booktitle = {Proc.~of the IEEE International Conference on
Robotics \& Automation (ICRA)}
}
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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},
year = {1999},
booktitle = {Proc.~of the German Conference on Artificial
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publisher = {Springer Verlag}
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year = {1999},
booktitle = {Proc.~of the International Conference on Machine Learning (ICML)}
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year = 2004
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year = {2006}
}
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author = {Sack, D. and Burgard, W.},
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year = 2004
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author = {Veeck, M. and Burgard, W.},
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year = 2004
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@phdthesis{grzonkaPhd,
author = {Grzonka, Slawomir},
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school = {Albert-Ludwigs-University of Freiburg},
year = {2011}
}
@article{grzonka12tro_mvn,
author = {Grzonka, S. and Karwath, A. and Dijoux, F. and Burgard, W.},
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pages = {234--245}
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@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
}
@article{bouabdallah10irs,
title = {{Towards Palm-Size Autonomous Helicopters}},
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.},
journal = {Journal of Intelligent \& Robotic Systems},
volume = 61,
issue = {1-4},
pages = {1--27},
year = 2011
}
@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
}
@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},
address = {Anchorage, Ak, USA},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/grzonka10icra.pdf}
}
@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},
address = {Kobe, Japan},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/grzonka09icra.pdf}
}
@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)},
year = {2009},
month = {Feb},
pages = {191-200},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/grzonka09ijrr.pdf}
}
@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},
address = {Venice, Italy},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/grzonka08simpar.pdf}
}
@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},
address = {Nice, France},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/grzonka08irosWS.pdf}
}
@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)},
address = {Pasadena, CA, USA},
year = {2008},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/arras08icra.pdf}
}
@mastersthesis{grzonka06thesis,
author = {Grzonka, S.},
title = {Untersuchungen zur Genauigkeit von SLAM-Verfahren mit Partikel-Filtern},
school = {University of Freiburg, Department of Computer Science},
year = {2006},
note = {In German},
url = {http://www.slawomir.de/publications/diplomarbeit/Grzonka_Diplomarbeit.pdf}
}
@inproceedings{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)},
year = {2012},
pages = {1923-1928},
pages = {1923 -1928},
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.},
keywords = {Cost function;End effectors;Joints;Kinematics;Surface treatment;},
doi = {10.1109/IROS.2012.6385960},
issn = {2153-0858},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/hess12iros.pdf}
}
@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{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},
year = {2011},
volume = {59},
number = {5},
pages = {319--328},
month = may,
issn = {0921-8890},
doi = {10.1016/j.robot.2011.02.012},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/joho11ras.pdf}
}
@inproceedings{joho10icra,
author = {Dominik Joho and Wolfram Burgard},
title = {Searching for Objects: Combining Multiple Cues To Object Locations
Using a Maximum Entropy Model},
booktitle = {Proceedings of the {IEEE} International Conference on Robotics
and Automation {(ICRA)}},
pages = {723--728},
month = may,
year = {2010},
address = {Anchorage, AK, USA},
doi = {10.1109/ROBOT.2010.5509285},
issn = {1050-4729},
isbn = {978-1-4244-5038-1},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/joho10icra.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},
month = sep,
year = {2009},
address = {Mlini/Dubrovnik, Croatia},
isbn = {978-953-6037-54-4},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/joho09ecmr.pdf}
}
@mastersthesis{joho07diplom,
author = {Dominik Joho},
title = {{E}xploration f\"{u}r mobile {R}oboter
unter {V}erwendung dreidimensionaler {U}mgebungsmodelle},
school = {Albert-Ludwigs-Universit\"{a}t Freiburg},
year = {2007},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/joho07diplom.pdf}
}
@inproceedings{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 International Conference on
Robotics \& Automation (ICRA)},
year = 2013,
address = {Karlsruhe, Germany},
url = {http://www.informatik.uni-freiburg.de/~kretzsch/pdf/beinhofer13icra.pdf}
}
@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,
address = {Sydney, Australia},
url = {http://www.informatik.uni-freiburg.de/~kretzsch/pdf/kuderer12rss.pdf}
}
@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 = {April},
url = {http://www.informatik.uni-freiburg.de/~kuemmerl/data/kuemmerle-dissertation.pdf},
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{wurm12ras,
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 = {0},
pages = { - },
year = {2012},
note = {In Press},
issn = {0921-8890},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/wurm13ras.pdf},
doi = {10.1016/j.robot.2012.10.003}
}
@article{kuemmerle12ar,
author = {K{\"u}mmerle, R. and Grisetti, G. and Burgard, W.},
title = {Simultaneous Parameter Calibration, Localization, and Mapping},
journal = {Advanced Robotics},
year = {2012},
volume = {26},
number = {17},
pages = {2021--2041},
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 = {October},
address = {Vilamoura, Portugal},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/grisetti12iros.pdf},
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{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},
address = {St. Paul, MN, USA},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/ruhnke12icra.pdf},
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{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 = {October},
address = {Half Moon Bay, CA, USA},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/ruhnke11arso.pdf},
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 = {September},
address = {San Francisco, CA, USA},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/kuemmerle11iros.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 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)},
address = {Shanghai, China},
month = {May},
year = {2011},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/kuemmerle11icra.pdf},
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.},
downloads = {http://openslam.org/g2o Open source implementation (stable);
https://github.com/RainerKuemmerle/g2o Open source implementation (devel)}
}
@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)},
address = {Shanghai, China},
month = {May},
year = {2011},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/ruhnke11icra.pdf},
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.}
}
@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 = {October},
address = {Taipei, Taiwan},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/konolige10iros.pdf},
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.},
downloads = {http://www.ros.org/research/2010/spa/ 2D Data sets;
http://www.informatik.uni-freiburg.de/~kuemmerl/data/spa-iros.mp4 Movie (6.6 MB)}
}
@inproceedings{kuemmerle09icra,
title = {Autonomous Driving in a Multi-level Parking Structure},
author = {R. K{\"u}mmerle and D. H{\"a}hnel and D. Dolgov and S. Thrun and W. Burgard},
booktitle = {Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA)},
address = {Kobe, Japan},
month = {May},
year = {2009},
abstract = {Recently, the problem of autonomous navigation of automobiles has
gained substantial interest in the robotics community. Especially
during the two recent DARPA grand challenges, autonomous cars have
been shown to robustly navigate over extended periods of time
through complex desert courses or through dynamic urban traffic
environments. In these tasks, the robots typically relied on GPS
traces to follow pre-defined trajectories so that only local
planners were required. In this paper, we present an approach for
autonomous navigation of cars in indoor structures such as parking
garages. Our approach utilizes multi-level surface maps of the
corresponding environments to calculate the path of the vehicle and
to localize it based on laser data in the absence of sufficiently
accurate GPS information. It furthermore utilizes a local path
planner for controlling the vehicle. In a practical experiment
carried out with an autonomous car in a real parking garage we
demonstrate that our approach allows the car to autonomously park
itself in a large-scale multi-level structure.},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/kuemmerle09icra.pdf},
downloads = {http://www.informatik.uni-freiburg.de/~kuemmerl/data/stanford-parking-garage-autonomous-double.avi Xvid Avi (9 MB);
http://www.informatik.uni-freiburg.de/~kuemmerl/data/stanford-parking-garage-autonomous-double.wmv WMV (11 MB)},
pages = {3395--3400}
}
@article{kuemmerle08jfr,
author = {K{\"u}mmerle, R. and Triebel, R. and Pfaff, P. and Burgard, W.},
title = {Monte Carlo Localization in Outdoor Terrains using Multilevel Surface Maps},
journal = {Journal of Field Robotics (JFR)},
year = {2008},
month = {June - July},
volume = {25},
pages = {346--359},
doi = {10.1002/rob.20245},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/kuemmerle08jfr.pdf},
abstract = {We propose a novel combination of techniques for robustly
estimating the position of a mobile robot in outdoor environments using
range data. Our approach applies a particle filter to estimate the full
six-dimensional state of the robot and utilizes multilevel surface maps,
which, in contrast to standard elevation maps, allow the robot to represent
vertical structures and multiple levels in the environment. We describe
probabilistic motion and sensor models to calculate the proposal
distribution and to evaluate the likelihood of observations. We
furthermore describe an active localization approach that actively
selects the sensor orientation of the two-dimensional laser range scanner
to improve the localization results. To efficiently calculate the
appropriate orientation, we apply a clustering operation on the particles
and evaluate potential orientations on the basis of these clusters.
Experimental results obtained with a mobile robot in large-scale outdoor
environments indicate that our approach yields robust and accurate
position estimates. The experiments also demonstrate that multilevel
surface maps lead to a significantly better localization performance than
standard elevation maps. They additionally show that further accuracy is
obtained from the active sensing approach.},
downloads = {http://www.informatik.uni-freiburg.de/~kuemmerl/data/movie_sbahn.avi Xvid Avi (15 MB);
http://www.informatik.uni-freiburg.de/~kuemmerl/data/movie-79er.avi Xvid Avi (19 MB)}
}
@inproceedings{kuemmerle07ams,
author = {K{\"u}mmerle, R. and Pfaff, P. and Triebel, R. and Burgard, W.},
title = {Active Monte Carlo Localization in Outdoor Terrains using Multi-Level Surface Maps},
booktitle = {Fachgespr{\"a}ch Autonome Mobile Systeme (AMS)},
editor = {Karsten Berns and Tobias Luksch},
pages = {22--28},
month = {October},
year = 2007,
address = {Kaiserslautern, Germany},
publisher = {Springer},
isbn = {978-3-540-74763-5},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/kuemmerle07ams.pdf},
abstract = {Abstract. In this paper we consider the problem of active mobile
robot localization with range sensors in outdoor environments. In contrast
to passive approaches our approach actively selects the orientation of
the laser range finder to improve the localization results. It applies a
particle filter to estimate the full six- dimensional state of the robot.
To represent the environment we utilize multi-level surface maps which
allow the robot to represent vertical structures and multiple levels. To
efficiently calculate the optimal orientation for the range scanner, we
apply a clustering operation on the particles and only evaluate potential
orientations based on these clusters. Experimental results obtained with
a mobile robot in an outdoor environment indicate that the active control
of the range sensor leads to more efficient localization results.}
}
@inproceedings{kuemmerle07fsr,
author = {K{\"u}mmerle, R. and Triebel, R. and Pfaff, P. and Burgard, W.},
title = {Monte Carlo Localization in Outdoor Terrains using Multi-Level Surface Maps},
booktitle = {Proc. of the International Conference on Field and Service Robotics (FSR)},
year = {2007},
address = {Chamonix, France},
abstract = {In this paper we consider the problem of mobile robot localization with
range sensors in outdoor environments. Our approach applies a particle
filter to estimate the full six-dimensional state of the robot. To
represent the environment we utilize multi-level surface maps which allow
the robot to represent vertical structures and multiple levels in the
environment. We describe probabilistic motion and sensor models to
calculate the proposal distribution and to evaluate the likelihood of
observations. Experimental results obtained with a mobile robot in an
outdoor environment indicate that our approach can be used to robustly and
accurately localize an outdoor vehicle. The experiments also demonstrate
that multi-level surface maps lead to a significantly better localization
performance than standard elevation maps.},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/kuemmerle07fsr.pdf},
downloads = {http://www.informatik.uni-freiburg.de/~kuemmerl/data/movie_sbahn.avi Xvid Avi (15 MB);
http://www.informatik.uni-freiburg.de/~kuemmerl/data/movie-79er.avi Xvid Avi (19 MB)}
}
@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)},
year = {2011},
address = {\"{O}rebro, Sweden},
pages = {49--54},
owner = {lau},
timestamp = {2011.07.11},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/lau11ecmr.pdf}
}
@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},
year = {2010},
volume = {2},
pages = {19--30},
number = {1},
owner = {lau},
timestamp = {2010.01.07},
url = {http://www.springerlink.com/content/gq863gk53135u1p4/}
}
@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},
address = {Kobe, Japan},
owner = {lau},
timestamp = {2010.01.07},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/lau09icra.pdf}
}
@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},
address = {Taipei, Taiwan},
owner = {lau},
timestamp = {2010.08.04},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/lau10iros.pdf}
}
@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},
address = {St. Louis, MO, USA},
month = {October},
owner = {lau},
timestamp = {2010.01.07},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/lau09iros.pdf}
}
@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},
series = {Springer Tracts in Advanced Robotics (STAR)},
volume = {76},
pages = {235--280},
publisher = {Springer},
year = 2012,
editor = {Erwin Prassler and Rainer Bischoff and Wolfram Burgard and Robert Haschke and Martin H\"{a}gele and Gisbert Lawitzky and Bernhard Nebel and Paul Pl\"{o}ger and Ulrich Reiser and Marius Z\"{o}llner}
}
@comment{{jabref-meta: selector_publisher:}}
@comment{{jabref-meta: selector_author:}}
@comment{{jabref-meta: selector_journal:}}
@comment{{jabref-meta: selector_keywords:}}
@inproceedings{meyer-delius09icra,
author = {D. Meyer-Delius and C. Plagemann and W. Burgard},
title = {Probabilistic Situation Recognition for Vehicular Traffic Scenarios},
booktitle = {Proc.~of the IEEE International Conference on Robotics and Automation (ICRA)},
address = {Kobe, Japan},
year = {2009}
}
@inproceedings{meyer-delius07ecmr,
author = {D. Meyer-Delius and W. Burgard},
title = {Maximum-Likelihood Sample-Based Maps for Mobile Robots},
booktitle = {Proc.~of the European Conference on Mobile Robots (ECMR)},
address = {Freiburg, Germany},
year = {2007}
}
@inproceedings{meyer-delius07gfki,
author = {D. Meyer-Delius and C. Plagemann and G. von Wichert and W. Feiten and G. Lawitzky and W. Burgard},
title = {A Probabilistic Relational Model for Characterizing Situations in Dynamic Multi-Agent Systems},
booktitle = {In Proc.~of the 31th Annual Conference of the German Classification Society on Data Analysis, Machine Learning, and Applications (GFKL)},
address = {Freiburg, Germany},
year = {2007}
}
@inproceedings{mueller09icra,
author = {M\"{u}ller, J. and Rottmann, A. and Reindl, L.M. and Burgard, W.},
title = {A Probabilistic Sonar Sensor Model for Robust Localization of a Small-size Blimp in Indoor Environments using a Particle Filter},
booktitle = {Proc.~of the IEEE International Conference on
Robotics \& Automation (ICRA)},
pages = {3589-3594},
year = 2009,
address = {Kobe, Japan},
month = {May},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/mueller09icra.pdf}
}
@inproceedings{mueller10icra,
author = {M\"{u}ller, J. and Gonsior, C. and Burgard, W.},
title = {Improved {M}onte {C}arlo Localization of Autonomous Robots through Simultaneous Estimation of Motion Model Parameters},
booktitle = {Proc.~of the IEEE International Conference on
Robotics \& Automation (ICRA)},
pages = {2604-2609},
year = 2010,
address = {Anchorage, AK, USA},
month = {May},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/mueller10icra.pdf}
}
@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 International Conference on
Robotics \& Automation (ICRA)},
pages = {4744-4749},
year = {2011},
address = {Shanghai, China},
month = {May},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/beinhofer11icra.pdf}
}
@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)},
year = {2011},
pages = {182-185},
address = {Athens, Greece},
month = {July},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/sauer11iolts.pdf}
}
@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},
address = {Passau, Germany},
month = {February}
}
@inproceedings{beinhofer11ecmr,
author = {Beinhofer, M. and M\"{u}ller, J. and Burgard, W.},
title = {Landmark Placement for Accurate Mobile Robot Navigation},
booktitle = {Proceedings of the European Conference on Mobile Robots (ECMR)},
pages = {55-60},
year = {2011},
address = {{\"O}rebro, Sweden},
month = {September},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/beinhofer11ecmr.pdf}
}
@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 = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages = {4941-4946},
year = {2011},
address = {San Francisco, CA, USA},
month = {September},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/mueller11iros.pdf}
}
@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 = {Proc.~of the IEEE International Conference on
Robotics \& Automation (ICRA)},
pages = {39-44},
year = {2012},
address = {Saint Paul, MN, USA},
month = {May},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/mueller12icra.pdf}
}
@inproceedings{hoeflinger12i2mtc,
author = {H\"{o}flinger, F. and M\"{u}ller, J. and T\"{o}rk, M. and Reindl, L.M. and Burgard, W.},
booktitle = {Proceedings of the IEEE International Instrumentation and Measurement Technology Conference (I2MTC)},
title = {A Wireless Micro Inertial Measurement Unit ({IMU})},
pages = {2578-2583},
year = {2012},
address = {Graz, Austria},
month = {May},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/hoeflinger12i2mtc.pdf},
doi = {10.1109/I2MTC.2012.6229271}
}
@article{beinhofer12ras,
author = {Beinhofer, M. and M\"{u}ller, J. and Burgard, W.},
title = {Effective Landmark Placement for Accurate and Reliable Mobile Robot Navigation},
journal = {Robotics \& Autonomous Systems},
year = {2012},
doi = {10.1016/j.robot.2012.08.009},
url = {http://dx.doi.org/10.1016/j.robot.2012.08.009}
}
@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},
address = {Sydney, Australia},
month = {November},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/wendeberg12ipin.pdf}
}
@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},
note = {Accepted for publication}
}
@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},
address = {Berkeley, CA, USA},
month = {April}
}
@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},
year = {2013},
doi = {10.1080/01691864.2013.779005}
}
@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},
address = {Dresden, Germany},
month = {February}
}
@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},
address = {Karlsruhe, Germany},
month = {May}
}
@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},
institution = {University of Freiburg, Department of Computer Science},
number = {272},
year = {2013},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/sittel13tr.pdf}
}
@phdthesis{mozos2008phd,
title = {Semantic Place Labeling with Mobile Robots},
author = {Oscar Martinez Mozos},
year = {2008},
month = {July},
school = {University of Freiburg},
address = {Freiburg, Germany},
category = {thesis},
pdf = {http://www.informatik.uni-freiburg.de/~omartine/publications/mozos2008phd.pdf}
}
@article{zender2008ras,
title = {Conceptual Spatial Representations for Indoor Mobile Robots},
author = {Hendrik Zender and Oscar Martinez Mozos and Patric Jensfelt and Geert-Jan M. Kruijff and Wolfram Burgard},
journal = {Robotics and Autonomous Systems},
publisher = {Elsevier},
volume = {56},
number = {6},
pages = {493--502},
month = {June},
year = {2008},
issn = {0921-8890},
jcr = {0.832 (2006)},
position = {4/12 ROBOTICS (2006)},
doi = {10.1016/j.robot.2008.03.007},
pdf = {http://www.informatik.uni-freiburg.de/~omartine/publications/zender2008ras.pdf},
category = {journal}
}
@article{stachniss2008amai,
title = {Efficient Exploration of Unknown Indoor Environments using a Team of Mobile Robots},
author = {Cyrill Stachniss and Oscar Martinez Mozos and Wolfram Burgard},
journal = {Annals of Mathematics and Artificial Intelligence},
year = {2008},
jcr = {0.756 (2007)},
issn = {1012-2443},
note = {To appear},
category = {journal}
}
@inproceedings{pronobis2008icra,
author = {Pronobis, A. and Martinez Mozos, O. and Caputo, B.},
title = {{SVM}-based Discriminative Accumulation Scheme for Place Recognition},
booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation},
year = {2008},
address = {Pasadena, CA, USA},
month = {May},
pages = {522--529},
issn = {1050-4729},
isbn = {978-1-4244-1647-9},
pdf = {http://www.informatik.uni-freiburg.de/~omartine/publications/pronobis2008icra.pdf},
category = {conference}
}
@inproceedings{mozos2007iros_workshop,
title = {From Labels to Semantics: An Integrated System for Conceptual Spatial Representations of Indoor Environments for Mobile Robots},
author = {Oscar Martinez Mozos and Patric Jensfelt and Hendrik Zender and Geert-Jan M. Kruijff and Wolfram Burgard},
booktitle = {Proceedings of the IEEE/RSJ IROS 2007 Workshop: Semantic information in robotics},
address = {San Diego, CA, USA},
year = {2007},
url = {http://www.informatik.uni-freiburg.de/~omartine/publications/mozos2007iros_workshop.html},
pdf = {http://www.informatik.uni-freiburg.de/~omartine/publications/mozos2007iros_workshop.pdf},
googlevideo = {http://www.informatik.uni-freiburg.de/~omartine/publications/mozos2007iros_workshop.html#video},
category = {workshop}
}
@article{stachniss2007it,
title = {Efficiently Learning Metric and Topological Maps with Autonomous Service Robots},
author = {Cyrill Stachniss and Giorgio Grisetti and Oscar Martinez Mozos and Wolfram Burgard},
journal = {it--Information Technology},
journallink = {http://it-information-technology.de/},
volume = {49},
number = {4},
year = {2007},
issn = {1611--2776},
pages = {232--237},
pdf = {http://www.informatik.uni-freiburg.de/~omartine/publications/stachniss2007it.pdf},
category = {journal}
}
@inproceedings{zender2007aaai,
title = {An Integrated Robotic System for Spatial Understanding and Situated Interaction in Indoor Environments},
author = {Hendrik Zender and Patric Jensfelt and Oscar Martinez Mozos and Geert-Jan M. Kruijff and Wolfram Burgard},
booktitle = {Proceedings of the Conference on Artificial Intelligence},
address = {Vancouver, British Columbia, Canada},
year = {2007},
pdf = {http://www.informatik.uni-freiburg.de/~omartine/publications/zender2007aaai.pdf},
url = {http://www.informatik.uni-freiburg.de/~omartine/publications/zender2007aaai.html},
googlevideo = {http://www.informatik.uni-freiburg.de/~omartine/publications/zender2007aaai.html#video},
category = {conference}
}
@inproceedings{triebel2007gfkl,
title = {Relational Learning in Mobile Robotics: An Application to Semantic Labeling of Objects in {2D} and {3D} Environment Maps},
author = {Rudolph Triebel and Oscar Martinez Mozos and Wolfram Burgard},
booktitle = {Annual Conference of the German Classification Society on Data Analysis, Machine Learning, and Applications},
address = {Freiburg, Germany},
year = {2007},
category = {conference}
}
@inbook{triebel2007gfkl_b,
title = {Studies in Classification, Data Analysis, and Knowledge Organization},
chapter = {Relational Learning in Mobile Robotics: An Application to Semantic Labeling of Objects in {2D} and {3D} Environment Maps},
author = {Triebel, R. and Mozos, O.M. and Burgard, W.},
editor = {C. Preisach, H. Burkhardt, L.Schmidt-Thieme, R.Decker},
year = {2008},
publisher = {Springer-Verlag},
pages = {293--300},
pdf = {http://www.informatik.uni-freiburg.de/~omartine/publications/triebel2007gfkl_book.pdf},
category = {book_chapter}
}
@inproceedings{mozos2007icra_workshop,
title = {From Labels to Semantics: An Integrated System for Conceptual Spatial Representations of Indoor Environments for Mobile Robots},
author = {Oscar Martinez Mozos and Patric Jensfelt and Hendrik Zender and Geert-Jan M. Kruijff and Wolfram Burgard},
booktitle = {Proceedings of the IEEE ICRA Workshop: Semantic information in robotics},
year = {2007},
pages = {33--40},
url = {http://www.informatik.uni-freiburg.de/~omartine/publications/mozos2007icra_workshop.html},
pdf = {http://www.informatik.uni-freiburg.de/~omartine/publications/mozos2007icra_workshop.pdf},
googlevideo = {http://www.informatik.uni-freiburg.de/~omartine/publications/mozos2007icra_workshop.html#video},
category = {workshop}
}
@inproceedings{arras2007icra,
title = {Using Boosted Features for the Detection of People in {2D} Range Data},
author = {Kai O. Arras and Oscar Martinez Mozos and Wolfram Burgard},
booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation},
year = {2007},
pages = {3402--3407},
url = {http://www.informatik.uni-freiburg.de/~omartine/publications/arras2007icra.html},
pdf = {http://www.informatik.uni-freiburg.de/~omartine/publications/arras2007icra.pdf},
video = {http://www.informatik.uni-freiburg.de/~omartine/multimedia/AdaBoostOffice.avi},
category = {conference}
}
@inproceedings{triebel2007ijcai,
title = {Instace-based AMN Classification for Improved Object Recognition in 2D and 3D Laser Range Data},
author = {Rudolph Triebel and Richard Schmidt and Oscar Martinez Mozos and Wolfram Burgard},
booktitle = {Proceedings of the International Joint Conference on Artificial Intelligence},
pages = {2225--2230},
address = {Hyderabad, India},
year = {2007},
pdf = {http://www.informatik.uni-freiburg.de/~omartine/publications/triebel2007ijcai.pdf},
category = {conference}
}
@inproceedings{mozos2006iros,
title = {Supervised Learning of Topological Maps using Semantic Information Extracted from Range Data.},
author = {Oscar Martinez Mozos and Wolfram Burgard},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems},
address = {Beijing, China},
year = {2006},
pdf = {http://www.informatik.uni-freiburg.de/~omartine/publications/mozos2006iros.pdf},
category = {conference}
}
@inproceedings{gil2006iros,
title = {Improving Data Association in Rao-Blackwellized visual {SLAM}},
author = {Arturo Gil and Oscar Reinoso and Wolfram Burgard and Cyrill Stachniss and Oscar Martinez Mozos},
booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems},
pages = {2076--2081},
address = {Beijing, China},
year = {2006},
pdf = {http://www.informatik.uni-freiburg.de/~omartine/publications/gil2006iros.pdf},
category = {conference}
}
@inproceedings{stachniss2006icra,
title = {Speeding-Up Multi-Robot Exploration by Considering Semantic Place Information},
author = {Cyrill Stachniss and Oscar Martinez Mozos and Wolfram Burgard},
booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation},
address = {Orlando, FL, USA},
year = {2006},
pages = {1692--1697},
pdf = {http://www.informatik.uni-freiburg.de/~omartine/publications/stachniss2006icra.pdf},
category = {conference}
}
@inbook{mozos2007star,
title = {Robotics Research: Results of the 12th International Symposium ISRR.},
author = {Oscar Martinez Mozos and Cyrill Stachniss and Axel Rottmann and Wolfram Burgard},
chapter = {Using AdaBoost for Place Labeling and Topological Map Building.},
year = {2007},
pages = {453--472},
editor = {Thrun, S. and Brooks, R. and Durrant-Whyte, H.},
publisher = {Springer-Verlag Berlin Heidelberg, Germany},
series = {{STAR} Springer tracts in advanced robotics},
volume = {28},
pdf = {http://www.informatik.uni-freiburg.de/~omartine/publications/mozos2007star.pdf},
category = {book_chapter}
}
@inproceedings{martinez2005icra,
title = {Supervised Learning of Places from Range Data using {A}da{B}oost},
author = {Oscar Martinez Mozos and Cyrill Stachniss and Wolfram Burgard},
booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation},
year = {2005},
pages = {1742--1747},
address = {Barcelona, Spain},
url = {http://www.informatik.uni-freiburg.de/~omartine/publications/martinez2005icra.html},
pdf = {http://www.informatik.uni-freiburg.de/~omartine/publications/martinez2005icra.pdf},
video = {http://www.informatik.uni-freiburg.de/~omartine/multimedia/fr079-online-classification.anim.avi},
finalistbeststudentpaper = {http://www.informatik.uni-freiburg.de/~omartine/images/icra05-best-student-paper-finalist.jpg},
category = {conference}
}
@mastersthesis{martinez2004thesis,
title = {Supervised Learning of Places from Range Data using AdaBoost},
author = {Oscar Martinez Mozos},
school = {University of Freiburg},
month = {December},
year = {2004},
url = {http://www.informatik.uni-freiburg.de/~omartine/publications/martinez2004thesis.html},
pdf = {http://www.informatik.uni-freiburg.de/~omartine/publications/martinez2004thesis.pdf},
ps = {http://www.informatik.uni-freiburg.de/~omartine/publications/martinez2004thesis.ps.gz},
category = {thesis}
}
@inproceedings{pfaff06euros,
author = {Pfaff, P. and Burgard, W. and Fox, D.},
title = {Robust Monte-Carlo Localization using Adaptive Likelihood Models},
editor = {H.I. Christiensen},
booktitle = {European Robotics Symposium 2006},
publisher = {Springer-Verlag Berlin Heidelberg, Germany},
year = 2006,
volume = {22},
series = springerstaradvanced,
pages = {181--194},
isbn = {3-540-32688-X},
pdfurl = {http://www.informatik.uni-freiburg.de/~pfaff/downloads/pfaff06euros.pdf}
}
@inproceedings{pfaff05fsr,
author = {P. Pfaff and W. Burgard},
title = {An Efficient Extension of Elevation Maps for Outdoor Terrain Mapping},
booktitle = {Proc. of the International Conference on Field and Service Robotics
(FSR)},
year = {2005},
pages = {165--176},
address = {Port Douglas, QLD, Australia},
pdfurl = {http://www.informatik.uni-freiburg.de/~pfaff/downloads/pfaff_fsr05.pdf}
}
@inproceedings{triebel06iros,
author = {R. Triebel and P. Pfaff and W. Burgard},
title = {Multi Level Surface Maps for Outdoor Terrain Mapping and Loop Closing},
booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = {2006},
pdfurl = {http://www.informatik.uni-freiburg.de/~pfaff/downloads/triebel06iros.pdf}
}
@article{pfaff07ijrr,
author = {Pfaff, P. and Triebel, R. and Burgard, W.},
title = {An Efficient Extension to Elevation Maps for Outdoor Terrain Mapping and Loop Closing},
editor = {P. Corke, and S. Sukkarieh},
journal = {International Journal of Robotics Research (IJRR)},
year = {2007}
}
@inproceedings{plagem07snob,
author = {Plagemann, C. and Kersting, K. and Pfaff, P. and Burgard, W.},
title = {Heteroscedastic Gaussian Process Regression for Modeling Range Sensors in Mobile Robotics},
booktitle = {Proc.~of the Learning Workshop (Snowbird)},
year = {2007},
address = {San Juan, Puerto Rico}
}
@inproceedings{kuemmerl07fsr,
author = {K\"ummerle, R. and Triebel, R. and Pfaff, P. and Burgard, W.},
title = {Monte Carlo Localization in Outdoor Terrains using Multi-Level
Surface Maps},
booktitle = {Proc. of the International Conference on Field and Service Robotics
(FSR)},
year = {2007},
address = {Chamonix, France}
}
@inproceedings{meyerdelius09icra,
title = {Probabilistic Situation Recognition and its Application to Vehicular Traffic Situations},
author = {Daniel Meyer-Delius and Christian Plagemann and Wolfram Burgard},
booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
address = {Kobe, Japan},
year = {2009},
abstract = {To act intelligently in dynamic environments, a system must understand the current situation it is involved in at any given time. This requires dealing with temporal context, handling multiple and ambiguous interpretations, and accounting for various sources of uncertainty. In this paper we propose a probabilistic approach to modeling and recognizing situations. We define a situation as a distribution over sequences of states that have some meaningful interpretation. Each situation is characterized by an individual hidden Markov model that describes the corresponding distribution. In particular, we consider typical traffic scenarios and describe how our framework can be used to model and track different situations while they are evolving. The approach was evaluated experimentally in vehicular traffic scenarios using real and simulated data. The results show that our system is able to recognize and track multiple situation instances in parallel and make sensible decisions between competing hypotheses. Additionally, we show that our models can be used for predicting the position of the tracked vehicles.},
note = {to appear}
}
@inproceedings{joho09icra,
title = {Modeling RFID Signal Strength and Tag Detection for Localization and Mapping},
author = {Dominik Joho and Christian Plagemann and Wolfram Burgard},
booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
address = {Kobe, Japan},
year = {2009},
abstract = {In recent years, there has been an increasing interest within the robotics community to investigate if Radio Frequency Identification (RFID) technology can be utilized for solving localization and mapping problems in the context of mobile robots. We present a novel sensor model which can be utilized for localizing RFID tags and for tracking a mobile agent moving through an RFID-equipped environment. The proposed probabilistic sensor model characterizes the received signal strength indication (RSSI) information as well as the tag detection events to achieve a higher modeling accuracy compared to state-of-the-art models that deal with one of these aspects only. We furthermore propose a method that is able to bootstrap such a sensor model in a fully unsupervised fashion. Real-world experiments demonstrate the effectiveness of the proposed approach also in comparison to existing techniques.},
note = {to appear}
}
@phdthesis{plagemann08phd,
author = {Plagemann, C.},
title = {Gaussian Processes for Flexible Robot Learning},
school = {University of Freiburg, Department of Computer Science},
year = 2008,
month = {December},
pdfurl = {http://www.informatik.uni-freiburg.de/~plagem/bib/plagemann08phd.pdf}
}
@inproceedings{plagemann08ecml,
title = {Nonstationary Gaussian Process Regression using Point Estimates
of Local Smoothness},
author = {Plagemann, C. and Kersting, K. and Burgard, W.},
booktitle = {Proc.~of the European Conference on Machine Learning (ECML)},
address = {Antwerp, Belgium},
year = {2008},
abstract = {
Gaussian processes using nonstationary covariance functions are a
powerful tool for Bayesian regression with input-dependent
smoothness. A common approach is to model the local smoothness by a
latent process that is integrated over using Markov chain Monte Carlo
approaches. In this paper, we demonstrate that an approximation that
uses the estimated mean of the local smoothness yields good results
and allows one to employ efficient gradient-based optimization
techniques for jointly learning the parameters of the latent and the
observed processes. Extensive experiments on both synthetic and
real-world data, including challenging problems in robotics, show the
relevance and feasibility of our approach.
},
pdfurl = {http://www.informatik.uni-freiburg.de/~plagem/bib/plagemann08ecml.pdf}
}
@proceedings{burgard08ias,
editor = {Burgard, W. and Dillmann, R. and Plagemann, C. and
Vahrenkamp, N.},
title = {Proc. of the 10th International Conference on Intelligent
Autonomous Systems, Baden-Baden, Germany, July 23-25, 2008},
booktitle = {IAS},
publisher = {IOS Press},
year = {2008},
isbn = {978-1-58603-887-8}
}
@inproceedings{plagemann08iros,
title = {Learning Predictive Terrain Models for Legged Robot Locomotion},
author = {Plagemann, C. and Mischke, S. and Prentice, S. and Kersting, K.
and Roy, N. and Burgard, W.},
booktitle = {Proc.~of the IEEE/RSJ International Conference on
Intelligent Robots and Systems (IROS)},
address = {Nice, France},
year = {2008},
abstract = {
Legged robots require the ability to build accurate models of their
environment in order to plan and execute their actions. We present a
novel, probabilistic terrain model based on Gaussian processes that
can be learned and updated efficiently using sparse approximation
techniques. The major benefit of our model is its ability to predict
elevations at unseen locations more reliably than alternative
approaches, while it also yields estimates of the predictive
uncertainties. In particular, our Gaussian process adapts its
covariance to the situation at hand, allowing more accurate inference
of terrain height at points that have not been directly observed. We
show how a conventional motion planner can use the learned terrain
model to to plan a path to a goal location, using a terrain-specific
cost model to accept or reject candidate footholds. In experiments
with a real quadruped robot equipped with a laser range finder, we
demonstrate the usefulness of our approach and discuss its benefits
compared to simpler terrain models such as elevations grids.
},
pdfurl = {http://www.informatik.uni-freiburg.de/~plagem/bib/plagemann08iros.pdf}
}
@inproceedings{luber08rss,
title = {Tracking and Classification of Dynamic Objects: An Unsupervised
Learning Approach},
author = {Luber, M. and Arras, K. and Plagemann, C. and Burgard, W.},
booktitle = {Robotics: Science and Systems (RSS)},
address = {Zurich, Switzerland},
year = {2008},
month = {June},
optpdfurl = {http://www.informatik.uni-freiburg.de/~plagem/bib/sturm08rss.pdf},
optabstract = {}
}
@inproceedings{reiser08robotik,
title = {Verteilte Software-Entwicklung in der Robotik - ein Integrations- und
Testframework},
author = {Reiser, U. and Mies, C. and Plagemann, C.},
booktitle = {Robotik},
address = {Munich, Germany},
year = {2008},
optmonth = {},
abstract = {Eine der größten Herausforderungen innerhalb der Robotik ist die Integration vieler, komplexer Hardware- und Softwarekomponenten zu einem robust funktionierenden Gesamtsystem. Neben den zahlreichen wissenschaftlichen Fragestellungen, die auf Systemebene zu lösen sind, hängt der Integrationserfolg insbesondere von der Lösung praktischer Probleme wie dem Zusammenspiel vieler Entwicklungspartner und der typischerweise stark limitierten Verfügbarkeit von Einzelkomponenten ab. Leistungsfähige Hardwarekomponenten, wie beispielsweise Mehrfingergreifer und Leichtbauarme, sind in der Regel Spezialanfertigungen und stehen daher nur wenigen Partnern innerhalb von Projekten zur Verfügung. In diesem Beitrag wird ein neues Integrations- und Testframework zur räumlich verteilten Forschung und Entwicklung an solchen Komponenten und integrierten Systemen vorgestellt. Entwickler können hierbei Beiträge zu einer Technologieplattform leisten, ohne ständigen, direkten Zugang zur Hardware besitzen zu müssen.},
note = {In German}
}
@inproceedings{pfaff08icra,
title = {Gaussian Mixture Models for Probabilistic Localization},
author = {Pfaff, P. and Plagemann, C. and Burgard, W.},
booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
address = {Pasadena, CA, USA},
year = {2008},
abstract = {Range sensors have become popular for mobile robot localization since they directly measure the geometry of the local environment. In situations in which the robot operates close to obstacles or in highly cluttered environments, however, small changes in the pose of the robot can lead to completely different geometries measured by the range sensor. The resulting enormous variances in the likelihood of observations can lead to major problems in probabilistic approaches such as Monte Carlo localization as important hypotheses or particles might get lost which substantially decreases the robustness of such approaches. A common solution is to artificially smooth the likelihood function or to only integrate a small fraction of the measurements. In this paper we present a more fundamental and robust approach which models the likelihood function for single range measurements as a mixture of Gaussians. In practical experiments we compare our approach to previous methods and demonstrate that it provides a substantially more robust localization.},
pdfurl = {http://www.informatik.uni-freiburg.de/~plagem/pfaff08icra.pdf}
}
@inproceedings{meyerdelius07gfkl,
title = {A Probabilistic Relational Model for Characterizing Situations in Dynamic Multi-Agent Systems},
author = {Meyer-Delius, C. and Plagemann, C. and von~Wichert, G. and Feiten, W. and Lawitzky, G. and Burgard, W.},
booktitle = {Proc.~of the 31st Annual Conference of the German Classification Society on Data Analysis, Machine Learning, and Applications (GfKl)},
address = {Freiburg, Germany},
year = {2007},
abstract = {Artificial systems with a high degree of autonomy require reliable semantic information about the context they operate in. State interpretation, however, is a difficult task. Interpretations may depend on a history of states and there may be more than one valid interpretation. We propose a model for spatio-temporal situations using hidden Markov models based on relational state descriptions, which are extracted from the estimated state of an underlying dynamic system. Our model covers concurrent situations, scenarios with multiple agents, and situations of varying durations. To evaluate the practical usefulness of our model, we apply it to the concrete task of online traffic analysis.},
pdfurl = {http://www.informatik.uni-freiburg.de/~plagem/bib/meyerdelius07gfkl.pdf}
}
@inproceedings{pfaff07iros,
title = {Improved Likelihood Models for Probabilistic Localization based on Range Scans},
author = {Pfaff, P. and Plagemann, C. and Burgard, W.},
booktitle = {Proc.~of the IEEE/RSJ International Conference on
Intelligent Robots and Systems (IROS)},
address = {San Diego, CA, USA},
year = {2007},
abstract = {},
pdfurl = {http://www.informatik.uni-freiburg.de/~plagem/bib/pfaff07iros.pdf}
}
@inproceedings{grzonka07fsr,
author = {Grzonka, S. and Plagemann, C. and Grisetti, G. and Burgard, W.},
title = {Look-ahead Proposals for Robust Grid-based SLAM},
booktitle = {Proc. of the International Conference on Field and Service Robotics (FSR)},
year = {2007},
month = {July},
address = {Chamonix, France},
pdfurl = {http://www.informatik.uni-freiburg.de/~plagem/bib/grzonka07fsr.pdf},
abstract = {Simultaneous Localization and Mapping (SLAM) is one of the classical problems in mobile robotics. The task is to build a map of the environment using on-board sensors while at the same time localizing the robot relative to this map. Rao-Blackwellized particle filters have emerged as a powerful technique for solving the SLAM problem in a wide variety of environments. It is a well-known fact for sampling-based approaches that the choice of the proposal distribution greatly influences the robustness and efficiency achievable by the algorithm. In this paper, we present a significantly improved proposal distribution for grid-based SLAM, which utilizes whole sequences of sensor measurements rather than only the most recent one. We have implemented our system on a real robot and evaluated its performance on standard data sets as well as in hard outdoor settings with few and ambiguous features. Our approach improves the localization accuracy and the map quality. At the same time, it substantially reduces the risk of mapping failures.}
}
@inproceedings{plagemann07rss,
title = {Gaussian Beam Processes: A Nonparametric Bayesian Measurement Model for Range Finders},
author = {Plagemann, C. and Kersting, K. and Pfaff, P. and Burgard, W.},
booktitle = {Robotics: Science and Systems (RSS)},
address = {Atlanta, Georgia, USA},
year = {2007},
month = {June},
pdfurl = {http://www.informatik.uni-freiburg.de/~plagem/bib/plagemann07rss.pdf},
abstract = {In probabilistic mobile robotics, the development of measurement models plays a crucial role as it directly influences the efficiency and the robustness of the robot's performance in a great variety of tasks including localization, tracking, and map building. In this paper, we present a novel probabilistic measurement model for range finders, called Gaussian Beam Processes, which treats the measurement modeling task as a nonparametric Bayesian regression problem and solves it using Gaussian processes. The major advantage of our approach lies in the smoothness of the resulting model which appropriately represents correlations between adjacent beams using covariance functions. Moreover, the Gaussian process treatment results in a sound probabilistic measurement model with a pool of well-established techniques for likelihood estimation and range prediction for an arbitrary number of beams. Experiments on real world and synthetic data show that Gaussian Beam Processes combine the advantages of two popular measurement models.}
}
@inproceedings{lang07rss,
title = {Adaptive Non-Stationary Kernel Regression for Terrain Modeling},
author = {Lang, T. and Plagemann, C. and Burgard, W.},
booktitle = {Robotics: Science and Systems (RSS)},
address = {Atlanta, Georgia, USA},
year = {2007},
month = {June},
pdfurl = {http://www.informatik.uni-freiburg.de/~plagem/bib/lang07rss.pdf},
abstract = {Three-dimensional digital terrain models are of fundamental importance in many areas such as the geo-sciences and outdoor robotics. Accurate modeling requires the ability to deal with a varying data density and to balance smoothing against the preservation of discontinuities. The latter is particularly important for robotics applications, as discontinuities that arise, for example, at steps, stairs, or building walls are important features for path planning or terrain segmentation tasks. In this paper, we present an extension of the well-established Gaussian process regression technique, that utilizes non-stationary covariance functions to locally adapt to the structure of the terrain data. In this way, we achieve strong smoothing in flat areas and along edges and at the same time preserve edges and corners. The derived model yields predictive height distributions for arbitrary locations of the terrain and therefore allows us to fill gaps in data and to perform conservative predictions in occluded areas.}
}
@inproceedings{kersting07icml,
title = {Most Likely Heteroscedastic Gaussian Process Regression},
author = {Kersting, K. and Plagemann, C. and Pfaff, P. and Burgard, W.},
booktitle = {International Conference on Machine Learning (ICML)},
address = {Corvallis, Oregon, USA},
year = {2007},
month = {March},
pdfurl = {http://www.informatik.uni-freiburg.de/~plagem/bib/kersting07icml.pdf},
abstract = {This paper presents a novel Gaussian process (GP) approach to regression with input-dependent noise rates. We follow Goldberg et al.'s approach and model the noise variance using a second GP in addition to the GP governing the noise-free output value. In contrast to Goldberg et al., however, we do not use a Markov chain Monte Carlo method to approximate the posterior noise variance but a most likely noise approach. The resulting model is easy to implement and can directly be used in combination with various existing extensions of the standard GPs such as sparse approximations. Extensive experiments on both synthetic and real-world data, including a challenging perception problem in robotics, show the effectiveness of most likely heteroscedastic GP regression.}
}
@article{kersting07ar,
title = {Learning to Transfer Optimal Navigation Policies},
author = {Kersting, K. and Plagemann, C. and Cocora, A. and Burgard, W. and De Raedt, L.},
journal = {Advanced Robotics. Special Issue on Imitative Robots},
year = {2007},
volume = {21},
number = {9},
month = {September},
pdfurl = {http://www.informatik.uni-freiburg.de/~plagem/bib/kersting07ar.pdf},
abstract = {Autonomous agents that act in the real world utilizing sensory input greatly rely on the ability to plan their actions and to transfer these skills across tasks. The majority of path planning approaches for mobile robots, however, solve the current navigation problem from scratch given the current and goal configuration of the robot. Consequently, these approaches yield highly efficient plans for the specific situation, but the computed policies typically do not transfer to other, similar tasks. In this paper, we propose to apply techniques from statistical relational learning to the path planning problem. More precisely, we propose to learn relational decision trees as abstract navigation strategies from example paths. Relational abstraction has several interesting and important properties. First, it allows a mobile robot to imitate navigation behavior shown by users or by optimal policies. Second, it yields comprehensible models of behavior. Finally, a navigation policy learned in one environment naturally transfers to unknown environments. In several experiments with real robots and in simulated runs, we demonstrate that our approach yields efficient navigation plans. We show that our system is robust against observation noise and can outperform hand-crafted policies.}
}
@inproceedings{plagemann07snowb,
title = {Heteroscedastic Gaussian Process Regression for Modeling Range Sensors in Mobile Robotics},
author = {Plagemann, C. and Kersting, K. and Pfaff, P. and Burgard, W.},
booktitle = {Snowbird learning workshop},
address = {San Juan, Puerto Rico},
year = {2007},
month = {March},
pdfurl = {http://www.informatik.uni-freiburg.de/~plagem/bib/plagemann07snowb.pdf}
}
@inproceedings{plagemann07ijcai,
title = {Efficient Failure Detection on Mobile Robots Using Particle Filters with Gaussian Process Proposals},
author = {Plagemann, C. and Fox, D. and Burgard, W.},
booktitle = {Proc.~of the Twentieth International Joint Conference on Artificial Intelligence (IJCAI)},
address = {Hyderabad, India},
year = {2007},
pdfurl = {http://www.informatik.uni-freiburg.de/~plagem/bib/plagemann07ijcai.pdf},
abstract = {The ability to detect failures and to analyze their causes is one of the preconditions of truly autonomous mobile robots. Especially online failure detection is a complex task, since the effects of failures are typically difficult to model and often resemble the noisy system behavior in a fault-free operational mode. In this paper we present an approach that applies Gaussian process classification and regression techniques for learning highly effective proposal distributions of a particle filter that is applied to track the state of the system. As a result, the efficiency and robustness of the state estimation process is substantially improved. In practical experiments carried out with a real robot we demonstrate that our system is capable of detecting collisions with unseen obstacles while at the same time estimating the changing point of contact with the obstacle.}
}
@inproceedings{lamon06iros,
title = {Mapping with an Autonomous Car},
author = {Lamon, P. and Stachniss, C. and Triebel, R. and Pfaff, P. and Plagemann, C. and Grisetti, G. and Kolsky, S. and Burgard, W. and Siegwart, R.},
booktitle = {In IEEE/RSJ IROS 2006 Workshop: Safe Navigation in Open and Dynamic Environments},
address = {Beijing, China},
year = {2006},
abstract = {In this paper, we present an approach towards mapping and safe navigation in real, large-scale environments with an autonomous car. The goal is to enable the car to autonomously navigate on roads while avoiding obstacles and while simultaneously learning an accurate three-dimensional model of the environment. To achieve these goals, we apply probabilistic state estimation techniques, network-based pose optimization, and a sensor-based traversability analysis approach. In order to achieve fast map learning, our system compresses the sensor data using multi-level surface maps. The overall system runs on a modified Smart car equipped with different types of sensors. We present several results obtained from extensive experiments which illustrate the capabilities of our vehicle.}
}
@article{cocora06ki,
title = {Learning Relational Navigation Policies},
author = {Cocora, A. and Kersting, K. and Plagemann, C. and Burgard, W. and De Raedt, L.},
journal = {KI - K{\"u}nstliche Intelligenz, Themenheft Lernen und Selbstorganisation von Verhalten},
pages = {12--18},
year = {2006},
volume = {3}
}
@inproceedings{cocora06iros,
title = {Learning Relational Navigation Policies},
author = {Cocora, A. and Kersting, K. and Plagemann, C. and Burgard, W. and De Raedt, L.},
booktitle = {Proc.~of the IEEE/RSJ International Conference on
Intelligent Robots and Systems (IROS)},
address = {Beijing, China},
year = {2006},
abstract = {Navigation is one of the fundamental tasks for a mobile robot. The majority of path planning approaches has been designed to entirely solve the given problem from scratch given the current and goal configurations of the robot. Although these approaches yield highly efficient plans, the computed policies typically do not transfer to other, similar tasks. We propose to learn relational decision trees as abstract navigation strategies from example paths. Relational abstraction has several interesting and important properties. First, it allows a mobile robot to generalize navigation plans from specific examples provided by users or exploration. Second, the navigation policy learned in one environment can be transferred to unknown environments. In several experiments with real robots in a real environment and in simulated runs, we demonstrate the usefulness
of our approach.},
pdfurl = {http://www.informatik.uni-freiburg.de/~plagem/bib/cocora06iros.pdf}
}
@inproceedings{plagemann05ams,
author = {Plagemann, C. and Burgard, W.},
title = {Sequential Parameter Estimation for Fault Diagnosis in Mobile Robots Using Particle Filters.},
booktitle = {Autonome Mobile Systeme 2005 (AMS)},
year = {2005},
pages = {197-202},
publisher = {Springer}
}
@inproceedings{plagemann05dagm,
author = {Plagemann, C. and M{\"u}ller, T. and Burgard, W.},
title = {Vision-Based 3D Object Localization Using Probabilistic
Models of Appearance.},
booktitle = {Pattern Recognition, 27th DAGM Symposium, Vienna, Austria},
year = {2005},
pages = {184-191},
publisher = {Springer},
series = {Lecture Notes in Computer Science},
volume = {3663},
editor = {Walter G. Kropatsch and Robert Sablatnig and Allan Hanbury},
pdfurl = {http://www.informatik.uni-freiburg.de/~plagem/bib/plagemann05dagm.pdf}
}
@mastersthesis{plagemann04mastersThesis,
author = {Plagemann, C.},
title = {{A}nsichtsbasierte {E}rkennung und {L}okalisierung von {O}bjekten zur {I}nitialisierung eines {V}erfolgungsprozesses},
school = {University of Karlsruhe, Department of Computer
Science and Fraunhofer Institute IITB, Karlsruhe},
year = 2004,
note = {In German},
pdfurl = {http://www.informatik.uni-freiburg.de/~plagem/bib/plagemann04mastersThesis.pdf}
}
@inproceedings{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},
year = {2006},
pages = {302--309},
url = {http://www.informatik.uni-freiburg.de/~rottmann/publication/gil06icinco.pdf}
}
@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},
year = {2010},
volume = {57},
pages = {2087--2097},
number = {9}
}
@inproceedings{Mueller09icra,
author = {M\"{u}ller, J. and Rottmann, A. and Reindl, L. and Burgard, W.},
title = {A probabilistic sonar sensor model for robust localization of a small-size
blimp in indoor environments using a particle filter},
booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
year = {2009},
pages = {3589--3594}
}
@inproceedings{mozos2006iros_w,
author = {Mart\'{i}nez Mozos, O. and Rottmann, A. and Triebel, R. and Jensfelt,
P. and Burgard, W.},
title = {Semantic Labeling of Places using Information Extracted from Laser
and Vision Sensor Data},
booktitle = {Proc.~of the IEEE/RSJ IROS 2006 Workshop: From sensors to human spatial
concepts},
year = {2006},
pages = {391--402},
address = {Beijing, China},
url = {http://www.informatik.uni-freiburg.de/~rottmann/publication/mozos2006iros_w.pdf}
}
@article{mozos2007ras,
author = {Mart\'{i}nez Mozos, O. and Triebel, R. and Jensfelt, P. and Rottmann,
A. and Burgard, W.},
title = {Supervised semantic labeling of places using information extracted
from sensor data},
journal = {Robotics and Autonomous Systems},
year = {2007},
volume = {55},
pages = {391--402},
number = {5},
url = {http://www.informatik.uni-freiburg.de/~rottmann/publication/mozos07ras.pdf}
}
@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},
note = {In German},
url = {http://www.informatik.uni-freiburg.de/~rottmann/publication/rottmann05mt.pdf}
}
@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)},
year = {2010},
pages = {192--201}
}
@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)},
year = {2009},
pages = {2106--2111}
}
@inproceedings{rottmann07iros,
author = {Rottmann, A. and Plagemann, C. and Hilgers, P. and Burgard, W.},
title = {Autonomous Blimp Control using Model-free Reinforcement Learning
in a Continuous State and Action Space},
booktitle = {Proc.~of the IEEE/RSJ Int.~Conf.~on Intelligent Robots and Systems
(IROS)},
year = {2007},
pages = {1895--1900},
address = {San Diego, CA, USA},
url = {http://www.informatik.uni-freiburg.de/~rottmann/publication/rottmann07iros.pdf}
}
@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},
address = {Freiburg, Germany},
url = {http://www.informatik.uni-freiburg.de/~rottmann/publication/rottmann07ecmr.pdf}
}
@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},
year = {2010},
pages = {873--878}
}
@inproceedings{stachniss2005isrr,
author = {Stachniss, C. and Mart\'{i}nez-Mozos, O. and Rottmann, A. and Burgard,
W.},
title = {Semantic Labeling of Places},
booktitle = {Proc.~of the Int.~Symposium of Robotics Research (ISRR)},
year = {2005},
address = {San Francisco, CA, USA},
url = {http://www.informatik.uni-freiburg.de/~rottmann/publication/stachniss05isrr.pdf}
}
@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)},
year = 2011,
address = {Shanghai, China},
month = may,
pages = {72--77},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/sprunk11icra.pdf}
}
@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)},
year = 2012,
address = {St. Paul, MN, USA},
month = may,
pages = {2068--2073},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/sprunk12icra.pdf}
}
@article{burgard13forschung,
author = {W. Burgard and C. Stachniss},
title = {Gestatten, Obelix!},
journal = {Forschung -- Das Magazin der Deutschen Forschungsgemeinschaft},
volume = 1,
year = 2013,
note = {In German, invited},
url = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/forschung_2013_01-pg4-9.pdf}
}
@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},
year = 2013,
volume = 34,
issue = 3,
pages = {189-206},
url = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/hornung13auro.pdf}
}
@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)},
year = 2013,
note = {In press},
url = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/maier13ijhr.pdf}
}
@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},
year = 2013,
note = {In press},
url = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/wurm13auro.pdf}
}
@article{wurm13ras,
author = {K.M. Wurm and H. Kretzschmar and R. K{\"u}mmerle and C. Stachniss and W. Burgard},
title = {Identifying Vegetation from Laser Data in Structured Outdoor Environments},
journal = {Robotics \& Autonomous Systems},
year = 2013,
note = {In press},
url = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/wurm13ras.pdf}
}
@inproceedings{abdo13icra,
author = {N. Abdo and H. Kretzschmar and L. Spinello and C. Stachniss},
title = {Learning Manipulation Actions from a Few Demonstrations},
booktitle = {Proc.~of the IEEE International Conference on
Robotics \& Automation (ICRA)},
address = {Karlsruhe, Germany},
year = 2013,
url = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/abdo13icra.pdf}
}
@inproceedings{agarwal13icra,
author = {P. Agarwal and G.D. Tipaldi and L. Spinello and C. Stachniss and W. Burgard},
title = {Robust Map Optimization using Dynamic Covariance Scaling},
booktitle = {Proc.~of the IEEE International Conference on
Robotics \& Automation (ICRA)},
address = {Karlsruhe, Germany},
year = 2013,
url = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/agarwal13icra.pdf}
}
@book{sc12proceedings,
editor = {C. Stachniss and K. Schill and D. Uttal},
title = {Spatial Cognition VIII},
publisher = {Springer},
year = 2012,
month = {August}
}
@article{kretzschmar12ijrr,
author = {H. Kretzschmar and C. Stachniss},
title = {Information-Theoretic Pose Graph Compression for Laser-based {SLAM}},
journal = {International Journal of Robotics Research (IJRR)},
year = 2012,
volume = 31,
issue = 11,
pages = {1219--1230},
url = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/kretzschmar12ijrr.pdf}
}
@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{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)},
year = 2012,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/roewekaemper12iros.pdf}
}
@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://www.informatik.uni-freiburg.de/~stachnis/pdf/spinello12rssws.pdf}
}
@inproceedings{abdo12tampra,
author = {N. Abdo and H. Kretzschmar and C. 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://www.informatik.uni-freiburg.de/~stachnis/pdf/abdo12tampra.pdf}
}
@inproceedings{joho12rss,
author = {D. Joho and G.D. Tipaldi and N. Engelhard and C. Stachniss and W. Burgard},
title = {Nonparametric {B}ayesian Models for Unsupervised Scene Analysis and Reconstruction},
booktitle = {Proc.~of Robotics: Science and Systems (RSS)},
year = 2012,
url = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/joho12rss.pdf}
}
@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},
pages = {477--526},
volume = 41,
year = 2011,
url = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/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},
address = {San Francisco, CA, USA},
year = 2011,
url = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/becker11irosws.pdf}
}
@inproceedings{kuemmerle11arso,
author = {R. K\"ummerle and G. Grisetti and C. Stachniss and W. Burgard},
title = {Simultaneous Parameter Calibration, Localization, and Mapping for Robust Service Robotics},
booktitle = {Proc.~of the IEEE Workshop on Advanced Robotics and its Social Impacts},
address = {Half-Moon Bay, CA, USA},
year = 2011,
url = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/kuemmerle11arso.pdf}
}
@inproceedings{kuemmerle11arso,
author = {R. K\"ummerle and G. Grisetti and C. Stachniss and W. Burgard},
title = {Simultaneous Parameter Calibration, Localization, and Mapping for Robust Service Robotics},
booktitle = {In Proc.~of the IEEE Workshop on Advanced Robotics and its Social Impacts},
address = {Half-Moon Bay, CA, USA},
year = 2011,
url = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/kuemmerle11arso.pdf}
}
@inproceedings{stachniss11isrr,
author = {H. Kretzschmar and C. Stachniss},
title = {Pose Graph Compression for Laser-based {SLAM}},
booktitle = {Proc.~of the Int. Symposium of Robotics Research (ISRR)},
address = {Flagstaff, AZ, USA},
year = 2011,
note = {Invited presentation},
url = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/stachniss11isrr.pdf}
}
@inproceedings{kretzschmar11iros,
author = {H. Kretzschmar and C. Stachniss and G. 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)},
address = {San Francisco, CA, USA},
year = 2011,
url = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/kretzschmar11iros.pdf}
}
@inproceedings{ziegler11iros,
author = {J. Ziegler and H. Kretzschmar and C. Stachniss
and G. Grisetti and W. 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)},
address = {San Francisco, CA, USA},
year = 2011,
url = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/ziegler11iros.pdf}
}
@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 International Conference on Intelligent Robots and Systems (IROS)},
address = {San Francisco, CA, USA},
year = 2011,
url = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/frank11iros.pdf}
}
@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)},
address = {San Francisco, CA, USA},
year = 2011,
url = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/frank11pamr.pdf}
}
@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 International Conference on
Robotics \& Automation (ICRA)},
address = {Shanghai, China},
year = 2011,
url = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/maier11icra.pdf}
}
@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},
chapter = {Statistical Gas Distribution Modelling using Kernel Methods},
publisher = {{IGI} {G}lobal},
note = {In press}
}
@article{grisetti10titsmag,
author = {G. Grisetti and R. K{\"u}mmerle and C. Stachniss and W. Burgard},
title = {A Tutorial on Graph-based {SLAM}},
journal = {IEEE Transactions on Intelligent Transportation Systems Magazine},
year = 2010,
pages = {31--43},
volume = 2,
issue = 4,
url = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/grisetti10titsmag.pdf}
}
@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},
address = {Taipei, Taiwan},
year = 2010
}
@inproceedings{frank10iros,
title = {Learning the Elasticity Parameters of Deformable Objects with a Manipulation Robot},
author = {B. Frank and R. Schmedding and C. Stachniss and M. Teschner and W. Burgard},
booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = 2010,
address = {Taipei, Taiwan},
url = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/frank10iros.pdf}
}
@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},
address = {Lisbon, Portugal},
year = 2010,
url = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/hornung10erlars.pdf}
}
@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)},
address = {Zaragoza, Spain},
year = 2010,
url = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/sturm10rssws.pdf}
}
@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)},
address = {Zaragoza, Spain},
year = 2010,
url = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/frank10rssws.pdf}
}
@article{plagemann10ras,
title = {A Nonparametric Learning Approach to Range Sensing from Omnidirectional Vision},
author = {C. Plagemann and C. Stachniss and J. Hess and F. Endres and N. Franklin},
journal = {Robotics \& Autonomous Systems},
volume = 58,
issue = 6,
pages = {762--772},
year = 2010
}
@article{kretzschmar10ki,
title = {Lifelong Map Learning for Graph-based {SLAM} in Static Environments},
author = {H. Kretzschmar and G. Grisetti and C. Stachniss},
journal = {{KI} -- {K}\"unstliche {I}ntelligenz},
volume = 24,
issue = 3,
pages = {199--206},
year = 2010
}
@inproceedings{grisetti10icra,
author = {G. Grisetti and R. K{\"u}mmerle and C. Stachniss and U. Frese and C. Hertzberg},
title = {Hierarchical Optimization on Manifolds for Online 2D and 3D Mapping},
booktitle = {Proc.~of the IEEE International Conference on
Robotics \& Automation (ICRA)},
address = {Anchorage, Alaska},
year = 2010,
url = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/grisetti10icra.pdf}
}
@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,
address = {Anchorage, AK, USA},
url = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/wurm10icraws.pdf}
}
@incollection{mueller10cogsysbook,
author = {M\"{u}ller, J. and Stachniss, C. and Arras, K.O. and Burgard, W.},
title = {Socially Inspired Motion Planning for Mobile Robots in Populated Environments},
booktitle = {Cognitive Systems},
series = {Cognitive Systems Monographs},
publisher = {Springer Verlag},
year = 2010,
note = {In press}
}
@phdthesis{stachniss09habil,
author = {C. Stachniss},
title = {Spatial Modeling and Robot Navigation},
type = {Habilitation},
year = 2009,
school = {University of Freiburg, Department of Computer Science},
url = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/stachniss-habil.pdf}
}
@article{grisetti09its,
author = {Grisetti, G. and Stachniss, C. and Burgard, W.},
title = {Non-linear Constraint Network Optimization for Efficient Map Learning},
journal = { IEEE Transactions on Intelligent Transportation Systems},
year = 2009,
volume = 10,
number = 3,
pages = {428--439},
url = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/grisetti09its.pdf}
}
@inproceedings{endres09rss,
author = {F. Enders and C. Plagemann and Stachniss, C. and Burgard, W.},
title = {Scene Analysis using Latent Dirichlet Allocation},
booktitle = {Proc.~of Robotics: Science and Systems (RSS)},
address = {Seattle, WA, USA},
year = 2009,
url = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/endres09rss-draft.pdf}
}
@inproceedings{endres09rssws,
author = {Endres, F. and Hess, J. and Franklin, N. and Plagemann, C. and Stachniss, C. and Burgard, W.},
title = {Estimating Range Information from Monocular Vision},
booktitle = {Workshop Regression in Robotics - Approaches and Applications at Robotics: Science and Systems (RSS)},
year = 2009,
address = {Seattle, WA, USA}
}
@inproceedings{sturm09rssws,
author = {J. Sturm and Stachniss, C. and V. Predeap and C. Plagemann and K. Konolige and Burgard, W.},
title = {Towards Understanding Articulated Objects},
booktitle = {Workshop Integrating Mobility and Manipulation at Robotics: Science and Systems (RSS)},
year = 2009,
address = {Seattle, WA, USA}
}
@article{stachniss09auro,
title = {Gas Distribution Modeling using Sparse Gaussian Process Mixtures},
author = {Stachniss, C. and Plagemann, C. and Lilienthal, A.J.},
journal = {Autonomous Robots},
year = 2009,
volume = 26,
issue = 2,
pages = {187ff}
}
@article{stachniss09amai,
title = {Efficient Exploration of Unknown Indoor Environments using a Team of Mobile Robots},
author = {Stachniss, C. and Martinez Mozos, O. and Burgard, W.},
journal = {Annals of Mathematics and Artificial Intelligence},
year = 2009,
volume = 52,
issue = 2,
pages = {205ff}
}
@book{stachniss09springerbook,
author = {C. Stachniss},
title = {Robotic Mapping and Exploration},
publisher = {Springer},
year = 2009,
volume = 55,
series = {STAR Springer tracts in advanced robotics},
isbn = {978-3-642-01096-5}
}
@article{wurm09ras,
title = {Bridging the Gap Between Feature- and Grid-based {SLAM}},
author = {Wurm, K.M. and Stachniss, C. and Grisetti, G.},
journal = {Robotics \& Autonomous Systems},
year = {2009}
}
@inproceedings{bennewitz09icra,
author = {M. Bennewitz and Stachniss, C. and Behnke, S. and Burgard, W.},
title = {Utilizing Reflection Properties of Surfaces to Improve Mobile Robot Localization},
booktitle = {Proc.~of the IEEE International Conference on
Robotics \& Automation (ICRA)},
address = {Kobe, Japan},
year = 2009
}
@inproceedings{strasdat09icra,
author = {H. Strasdat and Stachniss, C. and Burgard, W.},
title = {Which Landmark is Useful? Learning Selection Policies for Navigation in Unknown Environments},
booktitle = {Proc.~of the IEEE International Conference on
Robotics \& Automation (ICRA)},
address = {Kobe, Japan},
year = 2009
}
@inproceedings{frank09icra,
author = {B. Frank and C. Stachniss and R. Schmedding and W. Burgard and M. Teschner},
title = {Real-world Robot Navigation amongst Deformable Obstacles},
booktitle = {Proc.~of the IEEE International Conference on
Robotics \& Automation (ICRA)},
address = {Kobe, Japan},
year = 2009
}
@inproceedings{kretzschmar08iros,
author = {Kretzschmar, H. and Stachniss, C. and Plagemann, C. and W. Burgard},
title = {Estimating Landmark Locations from Geo-Referenced Photographs},
booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = 2008,
address = {Nice, France},
url = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/kretzschmar08iros.pdf}
}
@inproceedings{pfaff08iros,
author = {Pfaff, P. and Stachniss, C. and Plagemann, C. and W. Burgard},
title = {Efficiently Learning High-dimensional Observation Models for Monte-Carlo Localization using Gaussian Mixtures},
booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = 2008,
address = {Nice, France},
url = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/pfaff08iros.pdf}
}
@inproceedings{stachniss08rss,
author = {Stachniss, C. and Plagemann, C. and Lilienthal, A. and Burgard, W.},
title = {Gas Distribution Modeling using Sparse Gaussian Process Mixture Models},
booktitle = {Proc.~of Robotics: Science and Systems (RSS)},
year = 2008,
address = {Zurich, Switzerland},
note = {To appear},
url = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/stachniss08rss.pdf}
}
@inproceedings{mueller08cogsys,
author = {M\"uller, J. and Stachniss, C. and Arras, K.O. and Burgard, W.},
title = {Socially Inspired Motion Planning for Mobile Robots in Populated Environments},
booktitle = {Proceedings of the International Conference on Cognitive Systems (CogSys)},
address = {Baden Baden, Germany},
year = 2008
}
@inproceedings{stachniss08icra,
author = {Stachniss, C. and Bennewitz, M. and Grisetti, G. and Behnke, S. and Burgard, W.},
title = {How to Learn Accurate Grid Maps with a Humanoid},
booktitle = {Proc.~of the IEEE International Conference on
Robotics \& Automation (ICRA)},
address = {Pasadena, CA, USA},
year = 2008,
url = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/stachniss08icra.pdf}
}
@inproceedings{plagemann08icra,
author = {Plagemann, C. and Endres, F. and Hess, J. and Stachniss, C. and Burgard, W.},
title = {Monocular Range Sensing: A Non-Parametric Learning Approach},
booktitle = {Proc.~of the IEEE International Conference on
Robotics \& Automation (ICRA)},
address = {Pasadena, CA, USA},
year = 2008,
url = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/plagemann08icra.pdf}
}
@inproceedings{grisetti08icra,
author = {Grisetti, G. and Lordi Rizzini, D. and Stachniss, C. and Olson, E. and Burgard, W.},
title = {Online Constraint Network Optimization for Efficient Maximum Likelihood Map Learning},
booktitle = {Proc.~of the IEEE International Conference on
Robotics \& Automation (ICRA)},
address = {Pasadena, CA, USA},
year = 2008,
url = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/grisetti08icra.pdf}
}
@inproceedings{frank08icra,
author = {Frank, B. and Becker, M. and Stachniss, C. and Teschner, M. and Burgard, W.},
title = {Efficient Path Planning for Mobile Robots in Environments with Deformable Objects},
booktitle = {Proc.~of the IEEE International Conference on
Robotics \& Automation (ICRA)},
address = {Pasadena, CA, USA},
year = 2008,
url = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/frank08icra.pdf}
}
@inproceedings{frank08icraws,
author = {Frank, B. and Becker, M. and Stachniss, C. and Teschner, M. and Burgard, W.},
title = {Learning Cost Functions for Mobile Robot Navigation in Environments with Deformable Objects},
booktitle = {Workshop on Path Planning on Cost Maps at the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
address = {Pasadena, CA, USA},
year = 2008,
url = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/frank08icraws.pdf}
}
@inproceedings{steder08visappws,
author = {Steder, B. and Grisetti, G. and Stachniss, C. and Burgard, W.},
title = {Learning Visual Maps using Cameras and Inertial Sensors},
booktitle = {Workshop on Robotic Perception, International Conference on Computer Vision Theory and Applications},
year = 2008,
address = {Funchal, Madeira, Portugal},
note = {To appear}
}
@book{rss07proceedings,
editor = {Burgard, W. and Brock, O. and Stachniss, C.},
title = {Robotics: Science and Systems III},
publisher = {MIT Press},
year = {2008},
month = {March},
isbn = {0262524848},
note = {In press}
}
@incollection{burgard07starbook,
author = {Burgard, W. and Stachniss, C. and Haehnel, D.},
editor = {Laugier, C. and Chatila, R.},
booktitle = {Autonomous Navigation in Dynamic Environments},
title = {Mobile Robot Map Learning from Range Data in Dynamic Environments},
publisher = {Springer Verlag},
year = 2007,
volume = {35},
series = {STAR Springer tracts in advanced robotics}
}
@inproceedings{stachniss07iros,
author = {Stachniss, C. and Grisetti, G. and Burgard, W. and Roy, N.},
title = {Evaluation of Gaussian Proposal Distributions for Mapping with Rao-Blackwellized Particle Filters},
booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = 2007,
address = {San Diego, CA, USA},
url = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/stachniss07iros.pdf}
}
@inproceedings{grisetti07iros,
author = {Grisetti, G. and Grzonka, S. and Stachniss, C. and Pfaff, P. and Burgard, W.},
title = {Efficient Estimation of Accurate Maximum Likelihood Maps in 3D},
booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = 2007,
address = {San Diego, CA, USA},
url = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/grisetti07iros.pdf}
}
@inproceedings{pfaff07irosws,
author = {Pfaff, P. and Kuemmerle, R. and Joho, D. and Stachniss, C. and Triebel, R. and Burgard},
title = {Navigation in Combined Outdoor and Indoor Environments using Multi-Level Surface Maps},
booktitle = {Workshop on Safe Navigation in Open and Dynamic Environments at the IEEE/RSJ Int.~Conf.~on Intelligent Robots and Systems (IROS)},
year = 2007,
address = {San Diego, CA, USA},
url = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/pfaff07irosws.pdf}
}
@inproceedings{joho07ams,
author = {Joho, D. and Stachniss, C. and Pfaff, P. and Burgard, W.},
title = {Autonomous Exploration for 3D Map Learning},
booktitle = {Proc.~Fachgespr{\"a}che Autonome Mobile Systeme},
year = 2007,
address = {Kaiserslautern, Germany},
url = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/joho07ams.pdf}
}
@inproceedings{strasdat07ams,
author = {Strasdat, H. and Stachniss, C. and Bennewitz, M. and Burgard, W.},
title = {Visual Bearing-Only Simultaneous Localization and Mapping with Improved Feature Matching},
booktitle = {Proc.~Fachgespr{\"a}che Autonome Mobile Systeme},
year = 2007,
address = {Kaiserslautern, Germany},
url = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/strasdat07ams.pdf}
}
@article{stachniss07it,
title = {Efficiently Learning Metric and Topological Maps with Autonomous Service Robots},
author = {Stachniss, C. and Grisetti, G. and Mart\'{i}nez-Mozos, O. and Burgard, W.},
journal = {it -- Information Technology},
editor = {Buss, M. and Lawitzki, G.},
year = 2007,
volume = {49},
number = {4},
pages = {232--238}
}
@inproceedings{grisetti07rss,
author = {Grisetti, G. and Stachniss, C. and Grzonka, S. and Burgard, W.},
title = {A Tree Parameterization for Efficiently Computing Maximum Likelihood Maps using Gradient Descent},
booktitle = {Proc.~of Robotics: Science and Systems (RSS)},
year = 2007,
address = {Atlanta, GA, USA},
pdfurl = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/grisetti07rss.pdf}
}
@inproceedings{pfaff07icra,
author = {Pfaff, P. and Triebel, R. and Stachniss, C. and Lamon, P. and
Burgard, W. and Siegwart, R.},
title = {Towards Mapping of Cities},
booktitle = {Proc.~of the IEEE International Conference on
Robotics \& Automation (ICRA)},
year = 2007,
address = {Rome, Italy},
pdfurl = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/pfaff07icra.pdf}
}
@incollection{martinez07starbook,
author = {Mart\'{i}nez-Mozos, O. and Stachniss, C. and Rottmann, A. and Burgard, W.},
editor = {Thrun, S. and Brooks, R. and Durrant-Whyte, H.},
booktitle = {Robotics Research},
title = {Using AdaBoost for Place Labelling and Topological Map Building},
publisher = {Springer Verlag},
year = 2007,
volume = {28},
series = {STAR Springer tracts in advanced robotics},
isbn = {978-3-540-48110-2},
url = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/martinez07springer.pdf}
}
@article{grisetti07trans,
title = {Improved Techniques for Grid Mapping with Rao-Blackwellized Particle Filters},
author = {Grisetti, G. and Stachniss, C. and Burgard, W.},
journal = {IEEE Transactions on Robotics},
year = 2007,
pages = {34--46},
volume = {23},
number = {1},
pdfurl = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/grisetti07tro.pdf}
}
@article{grisetti07jras,
title = {Fast and Accurate {SLAM} with Rao-Blackwellized Particle Filters},
author = {Grisetti, G. and Tipaldi, G.D. and Stachniss, C. and
Burgard, W. and Nardi, D.},
journal = {Robotics \& Autonomous Systems},
year = {2007},
pages = {30--38},
volume = {55},
number = {1},
pdfurl = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/grisetti07jras.pdf}
}
@inproceedings{meier06sensor,
author = {Meier, D. and Stachniss, C. and Burgard, W.},
title = {Cooperative Exploration With Multiple Robots Using Low Bandwidth Communication},
booktitle = {Informationsfusion in der Mess- und Sensortechnik},
year = 2006,
pages = {145--157},
editor = {Beyerer, J. and Puente Le\'{o}n, F. and Sommer, K.-D.},
isbn = {3-86644-053-7},
pdfurl = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/meier06sensor.pdf}
}
@inproceedings{lamon06smart,
author = {Lamon, P. and Stachniss, C. and Triebel, R. and Pfaff, P. and Plagemann, C. and
Grisetti, G. and Kolski, S. and Burgard, W. and Siegwart, R.},
title = {Mapping with an Autonomous Car},
booktitle = {Workshop on Safe Navigation in Open and Dynamic Environments at the IEEE/RSJ Int.~Conf.~on Intelligent Robots and Systems (IROS)},
year = 2006,
address = {Beijing, China},
pdfurl = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/lamon06iros.pdf}
}
@inproceedings{gil06iros,
author = {Gil, A. and Reinoso, O. and Mart\'{i}nez-Mozos, O. and Stachniss, C. and
Burgard, W.},
title = {Improving Data Association in Vision-based {SLAM}},
booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = 2006,
address = {Beijing, China}
}
@article{sonntag06endod,
title = {Determination of Root Canal Curvatures before and
after Canal Preparation (Part II): A Method based on
Numeric Calculus},
author = {Sonntag, D. and Stachniss-Carp, S. and Stachniss,
C. and Stachniss, V.},
journal = {Aust Endod J},
volume = {32},
pages = {16--25},
year = {2006},
pdfurl = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/sonntag06endod.pdf}
}
@phdthesis{stachniss06phd,
author = {Stachniss, C.},
title = {Exploration and Mapping with Mobile Robots},
school = {University of Freiburg, Department of Computer
Science},
year = 2006,
pdfurl = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/stachniss06phd.pdf}
}
@inproceedings{stachniss06icra,
author = {Stachniss, C. and Mart\'{i}nez-Mozos, O. and
Burgard, W.},
title = {Speeding-Up Multi-Robot Exploration by Considering
Semantic Place Information},
booktitle = {Proc.~of the IEEE International Conference on
Robotics \& Automation (ICRA)},
year = 2006,
address = {Orlando, FL, USA},
pdfurl = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/stachniss06icra.pdf},
pages = {1692--1697}
}
@inproceedings{grisetti06icra,
author = {Grisetti, G. and Tipaldi, G.D. and Stachniss, C. and
Burgard, W. and Nardi, D.},
title = {Speeding-Up Rao-Blackwellized {SLAM}},
booktitle = {Proc.~of the IEEE International Conference on
Robotics \& Automation (ICRA)},
year = 2006,
address = {Orlando, FL, USA},
pdfurl = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/grisetti06icra.pdf},
pages = {442--447}
}
@inproceedings{plagemann06euros,
author = {Plagemann, C. and Stachniss, C. and Burgard, W.},
title = {Efficient Failure Detection for Mobile Robots using
Mixed-Abstraction Particle Filters},
editor = {H.I. Christiensen},
booktitle = {European Robotics Symposium 2006},
publisher = {Springer-Verlag Berlin Heidelberg, Germany},
year = 2006,
volume = {22},
series = {STAR Springer tracts in advanced robotics},
pages = {93--107},
isbn = {3-540-32688-X},
pdfurl = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/plagemann06euros.pdf}
}
@inproceedings{bennewitz06euros,
author = {Bennewitz, M. and Stachniss, C. and Burgard, W. and
Behnke, S.},
editor = {H.I. Christiensen},
booktitle = {European Robotics Symposium 2006},
title = {Metric Localization with Scale-Invariant Visual
Features using a Single Perspective Camera},
publisher = {Springer-Verlag Berlin Heidelberg, Germany},
year = 2006,
volume = {22},
series = {STAR Springer tracts in advanced robotics},
pages = {143--157},
isbn = {3-540-32688-X},
pdfurl = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/bennewitz06euros.pdf}
}
@article{stachniss05ar,
author = {Stachniss, C. and H\"{a}hnel, D. and Burgard, W. and
Grisetti, G.},
title = {On Actively Closing Loops in Grid-based {FastSLAM}},
journal = {Advanced Robotics},
year = 2005,
volume = {19},
number = {10},
pages = {1059--1080},
pdfurl = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/stachniss05ar.pdf}
}
@inproceedings{stachniss05isrr,
author = {Stachniss, C. and Mart\'{i}nez-Mozos, O. and
Rottmann, A. and Burgard, W.},
title = {Semantic Labeling of Places},
booktitle = {Proc.~of the Int. Symposium of Robotics Research (ISRR)},
year = 2005,
address = {San Francisco, CA, USA},
pdfurl = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/stachniss05isrr.pdf}
}
@inproceedings{stachniss05robotics,
title = {Information Gain-based Exploration Using
Rao-Blackwellized Particle Filters},
author = {Stachniss, C. and Grisetti, G. and Burgard, W.},
booktitle = {Proc.~of Robotics: Science and Systems (RSS)},
year = 2005,
address = {Cambridge, MA, USA},
pages = {65--72},
pdfurl = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/stachniss05rss.pdf}
}
@inproceedings{meier05ecmr,
author = {Meier, D. and Stachniss, C. and Burgard, W.},
title = {Coordinating Multiple Robots During Exploration
Under Communication With Limited Bandwidth},
booktitle = {Proceedings of the European Conference on Mobile Robots (ECMR)},
year = 2005,
pages = {26--31},
address = {Ancona, Italy},
pdfurl = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/meier05ecmr.pdf}
}
@inproceedings{stachniss05aaai,
title = {Mobile Robot Mapping and Localization in Non-Static
Environments},
author = {Stachniss, C. and Burgard, W.},
booktitle = {Proc.~of the National Conference on Artificial Intelligence (AAAI)},
year = 2005,
address = {Pittsburgh, PA, USA},
pages = {1324--1329},
pdfurl = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/stachniss05aaai.pdf}
}
@inproceedings{rottmann05aaai,
title = {Place Classification of Indoor Environments with
Mobile Robots using Boosting},
author = {Rottmann, A. and Mart\'{i}nez-Mozos, O. and
Stachniss, C. and Burgard, W.},
booktitle = {Proc.~of the National Conference on Artificial Intelligence (AAAI)},
year = 2005,
address = {Pittsburgh, PA, USA},
pages = {1306--1311},
pdfurl = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/rottmann05aaai.pdf}
}
@article{trahaniasWebfair,
author = {Trahanias, P. and Burgard, W. and Argyros, A. and
H\"{a}hnel, D. and Baltzakis, H. and Pfaff, P. and
Stachniss, C.},
title = {{TOURBOT} and {WebFAIR}: Web-Operated Mobile Robots
for Tele-Presence in Populated Exhibitions},
journal = {IEEE Robotics \& Automation Magazine},
year = 2005,
volume = {12},
number = {2},
pages = {77--89},
pdfurl = {http://ieeexplore.ieee.org/iel5/100/31383/01458329.pdf?arnumber=1458329}
}
@article{burgard05tro,
author = {W. Burgard and M. Moors and C. Stachniss and
F. Schneider},
title = {Coordinated Multi-Robot Exploration},
journal = {IEEE Transactions on Robotics},
year = 2005,
volume = {21},
number = {3},
pages = {376--378},
pdfurl = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/burgard05tro.pdf}
}
@inproceedings{burgard05snowbird,
title = {Information Gain-based Exploration Using
Rao-Blackwellized Particle Filters},
author = {Burgard, W. and Stachniss, C. and Grisetti, G.},
booktitle = {Proc. of the Learning Workshop (Snowbird)},
year = 2005,
address = {Snowbird, UT, USA},
pdfurl = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/burgard05snowbird.pdf}
}
@inproceedings{stachniss05icra,
title = {Recovering Particle Diversity in a Rao-Blackwellized
Particle Filter for {SLAM} after Actively Closing
Loops},
author = {Stachniss, C. and Grisetti, G. and Burgard, W.},
booktitle = {Proc.~of the IEEE International Conference on
Robotics \& Automation (ICRA)},
year = 2005,
pages = {667--672},
address = {Barcelona, Spain},
pdfurl = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/stachniss05icra.pdf}
}
@inproceedings{martinez05icra,
title = {Supervised Learning of Places from Range Data using
Adaboost},
author = {Mart\'{i}nez-Mozos, O. and Stachniss, C. and
W. Burgard},
booktitle = {Proc.~of the IEEE International Conference on
Robotics \& Automation (ICRA)},
year = 2005,
pages = {1742--1747},
address = {Barcelona, Spain},
pdfurl = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/martinez05icra.pdf}
}
@inproceedings{grisetti05icra,
title = {Improving Grid-based {SLAM} with Rao-Blackwellized
Particle Filters by Adaptive Proposals and Selective
Resampling},
author = {Grisetti, G. and Stachniss, C. and Burgard, W.},
booktitle = {Proc.~of the IEEE International Conference on
Robotics \& Automation (ICRA)},
year = 2005,
pages = {2443--2448},
address = {Barcelona, Spain},
pdfurl = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/grisetti05icra.pdf}
}
@inproceedings{stachniss04soave,
author = {Stachniss, C. and Grisetti, G. and H\"{a}hnel,
D. and Burgard, W.},
title = {Improved Rao-Blackwellized Mapping by Adaptive
Sampling and Active Loop-Closure},
booktitle = {Proc.~of the Workshop on Self-Organization of AdaptiVE behavior (SOAVE)},
year = 2004,
pages = {1--15},
address = {Ilmenau, Germany},
pdfurl = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/stachniss04soave.pdf}
}
@inproceedings{stachniss04iros,
author = {Stachniss, C. and H\"{a}hnel, D. and Burgard, W.},
title = {Exploration with Active Loop-Closing for {FastSLAM}},
booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = 2004,
pages = {1505--1510},
address = {Sendai, Japan},
pdfurl = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/stachniss04iros.pdf}
}
@inproceedings{stachniss03dagstuhl,
author = {Stachniss, C. and H\"{a}hnel, D. and Burgard, W.},
title = {Grid-based {FastSLAM} and Exploration with Active Loop
Closing},
booktitle = {Online Proc.~of the Dagstuhl Seminar on Robot
Navigation (Dagstuhl Seminar~03501)},
year = 2003,
address = {Dagstuhl, Germany}
}
@inproceedings{stachniss03iros,
author = {Stachniss, C. and Burgard, W.},
title = {Mapping and Exploration with Mobile Robots using
Coverage Maps},
booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = 2003,
pages = {476--481},
address = {Las Vegas, NV, USA},
pdfurl = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/stachniss03iros.pdf}
}
@inproceedings{stachniss03ecmr,
author = {Stachniss, C. and Burgard, W.},
title = {Using Coverage Maps to Represent the Environment of
Mobile Robots},
booktitle = {Proceedings of the European Conference on Mobile Robots (ECMR)},
year = 2003,
pages = {59--64},
address = {Radziejowice, Poland},
pdfurl = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/stachniss03ecmr.pdf}
}
@inproceedings{stachniss03ijcai,
author = {Stachniss, C. and Burgard, W.},
title = {Exploring Unknown Environments with Mobile Robots
using Coverage Maps},
booktitle = {Proc.~of the International Joint Conference on
Artificial Intelligence (IJCAI)},
year = 2003,
pages = {1127--1132},
address = {Acapulco, Mexico},
pdfurl = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/stachniss03ijcai.pdf}
}
@inproceedings{stachniss02iros,
author = {Stachniss, C. and Burgard, W.},
title = {An Integrated Approach to Goal-directed Obstacle
Avoidance under Dynamic Constraints for Dynamic
Environments},
booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = 2002,
pages = {508--513},
address = {Lausanne, Switzerland},
pdfurl = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/stachniss02iros.pdf}
}
@mastersthesis{stachniss02diplom,
author = {Stachniss, C.},
title = {{Z}ielgerichtete {K}ollisionsvermeidung f{\"u}r
mobile {R}oboter in dynamischen {U}mgebungen},
school = {University of Freiburg, Department of Computer
Science},
year = 2002,
note = {In German},
pdfurl = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/stachniss02diplom.pdf}
}
@inproceedings{kuemmerle13icra,
author = {K{\"u}mmerle, R. and M. Ruhnke and B. Steder and C. Stachniss and W. Burgard},
title = {A Navigation System for Robots Operating in Crowded Urban Environments},
booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
year = {2013},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/kuemmerle13icra.pdf},
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 an approach 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.},
note = {Accepted for Publication}
}
@article{ruhnke12desire,
title = {{3D} Environment Modeling Based on Surface Primitives},
author = {Ruhnke, M. and Steder, B. and Grisetti, G. and Burgard, W.},
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{steder11iros,
author = {B. Steder and M. Ruhnke and S. Grzonka and W. Burgard},
title = {Place Recognition in {3D} Scans Using a Combination of Bag of Words and Point Feature based Relative Pose Estimation},
booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = {2011},
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{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},
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.}
}
@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},
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.},
downloads = {http://dx.doi.org/10.1007/s10514-010-9204-1 Online Version}
}
@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},
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.},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/steder10irosws.pdf}
}
@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 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = {2010},
month = {October},
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.},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/ruhnke10iros.pdf}
}
@inproceedings{steder10icra,
author = {Steder, B. and Grisetti, G. and Burgard, W.},
title = {Robust Place Recognition for {3D} Range Data based on Point Features},
booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
year = {2010},
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.},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/steder10icra.pdf}
}
@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},
year = {2009},
volume = {27},
number = {4},
pages = {387--407},
doi = {10.1007/s10514-009-9155-6},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/kuemmerle09auro.pdf},
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.},
downloads = {http://ais.informatik.uni-freiburg.de/slamevaluation Evaluation Software and Datasets;
http://dx.doi.org/10.1007/s10514-009-9155-6 Online Version}
}
@inproceedings{steder09iros,
author = {Steder, B. and Grisetti, G. and Van Loock, M. and Burgard, W.},
title = {Robust On-line Model-based Object Detection from Range Images},
booktitle = {Proc. of the {IEEE/RSJ} Int. Conf. on Intelligent Robots and Systems (IROS)},
address = {St. Louis, MO, USA},
month = oct,
year = {2009},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/steder09iros.pdf}
}
@inproceedings{burgard09iros,
author = {W. Burgard and C. Stachniss and G. Grisetti and B. Steder and
R. K{\"u}mmerle and C. Dornhege and M. Ruhnke and A. Kleiner and
Juan D. Tard{\'o}s},
title = {A Comparison of {SLAM} Algorithms Based on a Graph of Relations},
booktitle = {Proc. of the {IEEE/RSJ} Int. Conf. on Intelligent Robots and Systems (IROS)},
address = {St. Louis, MO, USA},
year = {2009},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/burgard09iros.pdf}
}
@inproceedings{kuemmerle09rss,
author = {K{\"u}mmerle, R. and Steder, B. and Dornhege, C. and Kleiner, A. and Grisetti, G. and Burgard, W.},
title = {Large Scale Graph-based {SLAM} using Aerial Images as Prior Information},
booktitle = {Proceedings of Robotics: Science and Systems (RSS)},
address = {Seattle, WA, USA},
month = {June},
year = {2009},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/kuemmerle09rss.pdf}
}
@inproceedings{ruhnke09icra,
author = {Ruhnke, M. and Steder, B. and Grisetti, G. and Burgard, W.},
title = {Unsupervised Learning of {3D} Object Models from Partial Views},
year = {2009},
address = {Kobe, Japan},
booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/ruhnke09icra.pdf}
}
@article{steder08tro,
author = {Steder, B. and Grisetti, G. and Stachniss, C. and Burgard, W.},
title = {Visual {SLAM} for Flying Vehicles},
journal = {{IEEE} Transactions on Robotics},
year = {2008},
month = {10},
volume = {24},
number = {5},
pages = {1088--1093},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/steder08tro.pdf}
}
@inproceedings{steder08visapp,
author = {Steder, B. and Grisetti, G. and Grzonka, S. and Stachniss, C. and Burgard, W.},
title = {Estimating Consistent Elevation Maps using Down-Looking Cameras and Inertial Sensors},
booktitle = {Proc. of the Workshop on Robotic Perception on the International Conference on Computer Vision Theory and Applications},
address = {Funchal, Madeira, Portugal},
year = {2008},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/steder08visapp.pdf}
}
@inproceedings{steder07iros,
author = {Steder, B. and Grisetti, G. and Grzonka, S. and
Stachniss, C. and Rottmann, A. and Burgard, W.},
title = {Learning Maps in {3D} using Attitude and Noisy Vision Sensors},
booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = {2007},
address = {San Diego, CA, USA},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/steder07iros.pdf}
}
@inproceedings{steder07irosws,
author = {Steder, B. and Rottmann, A. and Grisetti, G. and Stachniss, C. and Burgard, W.},
title = {Autonomous Navigation for Small Flying Vehicles},
booktitle = {Workshop on Micro Aerial Vehicles at the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS)},
year = {2007},
address = {San Diego, CA, USA},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/steder07irosws.pdf}
}
@mastersthesis{steder07da,
author = {Steder, Bastian},
title = {{T}echniken f{\"u}r bildbasiertes {SLAM} unter {V}erwendung von {L}agesensoren},
school = {Albert-Ludwigs-Universit{\"a}t},
address = {Freiburg},
type = {Diplomarbeit},
year = {2007},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/steder07da.pdf}
}
@inproceedings{sturm08icra,
title = {Unsupervised Body Scheme Learning through Self-Perception},
author = {J. Sturm and C. Plagemann and W. Burgard},
booktitle = {Proc.~of the IEEE Int.~Conf.~on Robotics \& Automation (ICRA)},
address = {Pasadena, CA, USA},
year = {2008},
pdfurl = {http://www.informatik.uni-freiburg.de/~sturm/media/sturm08icra.pdf},
pages = {3328--3333}
}
@inproceedings{sturm08rss,
title = {Adaptive Body Scheme Models for Robust Robotic Manipulation},
author = {J. Sturm and C. Plagemann and W. Burgard},
booktitle = {Robotics: Science and Systems (RSS)},
address = {Zurich, Switzerland},
year = {2008},
month = {June},
pdfurl = {http://www.informatik.uni-freiburg.de/~sturm/media/sturm08rss.pdf}
}
@inproceedings{sturm08rss-workshop,
title = {Body Scheme Learning and Life-Long Adaptation for Robotic Manipulation},
author = {J. Sturm and C. Plagemann and W. Burgard},
booktitle = {Proceedings of the Workshop on Robot Manipulation at Robotics: Science and Systems Conference (RSS)},
address = {Zurich, Switzerland},
year = {2008},
month = {June},
pdfurl = {http://www.informatik.uni-freiburg.de/~sturm/media/sturm08rss-workshop.pdf}
}
@inproceedings{sturm09snowbird,
author = {J. Sturm and C. Stachniss and V. Pradeep and C. Plagemann and K. Konolige and W. Burgard},
title = {Learning Kinematic Models for Articulated Objects},
booktitle = {Online Proc. of the Learning Workshop (Snowbird)},
year = 2009,
address = {Clearwater, FL, USA}
}
@inproceedings{eppner09icra,
author = {C. Eppner and J. Sturm and M. Bennewitz and C. Stachniss and W. Burgard},
title = {Imitation Learning with Generalized Task Descriptions},
booktitle = {Proc.~of the IEEE International Conference on Robotics \& Automation (ICRA)},
year = 2009,
address = {Kobe, Japan},
url = {http://www.informatik.uni-freiburg.de/~sturm/media/eppner09icra.pdf}
}
@inproceedings{schulz09gwr,
author = {H. Schulz and L. Ott and J. Sturm and W. Burgard},
title = {Learning Kinematics from Direct Self-Observation Using Nearest-Neighbor Methods},
booktitle = {Proc.~of the German Workshop on Robotics},
year = {2009},
url = {http://www.informatik.uni-freiburg.de/~sturm/media/schulz09gwr.pdf}
}
@inproceedings{sturm09rss-manip,
author = {J. Sturm and C. Stachniss and V. Pradeep and C. Plagemann and K. Konolige and W. Burgard},
title = {Towards Understanding Articulated Objects},
booktitle = {Proc.~of the Workshop on Robot Manipulation at Robotics: Science and Systems Conference (RSS)},
year = {2009},
url = {http://www.informatik.uni-freiburg.de/~sturm/media/sturm09rss-manip.pdf}
}
@inproceedings{sturm09ijcai,
author = {J. Sturm and V. Pradeep and C. Stachniss and C. Plagemann and K. Konolige and W. Burgard},
title = {Learning Kinematic Models for Articulated Objects},
booktitle = {Proc. of the International Joint Conference on Artificial Intelligence (IJCAI)},
year = {2009},
url = {http://www.informatik.uni-freiburg.de/~sturm/media/sturm09ijcai.pdf}
}
@inproceedings{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 International Conference on Intelligent Robot Systems (IROS)},
year = {2009},
url = {http://www.informatik.uni-freiburg.de/~sturm/media/meyerdelius09iros.pdf}
}
@inproceedings{schneider09iros,
author = {A. Schneider and J. Sturm and C. Stachniss and M. Reisert and H. Burkhardt and W. Burgard},
title = {Object Identification with Tactile Sensors Using Bag-of-Features},
booktitle = {Proc. of the International Conference on Intelligent Robot Systems (IROS)},
year = {2009},
url = {http://www.informatik.uni-freiburg.de/~sturm/media/schneida09iros.pdf}
}
@article{sturm09jp,
title = {Body schema learning for robotic manipulators from visual self-perception},
journal = {Journal of Physiology-Paris},
volume = {103},
number = {3-5},
pages = {220--231},
year = {2009},
note = {Neurorobotics},
issn = {0928-4257},
doi = {DOI: 10.1016/j.jphysparis.2009.08.005},
url = {http://www.sciencedirect.com/science/article/B6VMC-4WY6JVM-D/2/0aaabe9b7dc9628c8c818fa87c8b56e9},
author = {J. Sturm and C. Plagemann and W. Burgard}
}
@inproceedings{sturm10icra,
author = {J. Sturm and K. Konolige and C. Stachniss and W. Burgard},
title = {Vision-based Detection for Learning Articulation Models of Cabinet Doors and Drawers in Household Environments},
booktitle = {Proc.~of the IEEE International Conference on Robotics \& Automation (ICRA)},
address = {Anchorage, Alaska},
year = 2010,
url = {http://www.informatik.uni-freiburg.de/~sturm/media/sturm10icra.pdf}
}
@inproceedings{sturm10rss-rgbd,
title = {3D Pose Estimation, Tracking and Model Learning of Articulated Objects from Dense Depth Video using Projected Texture Stereo},
author = {J. Sturm and K. Konolige and C. Stachniss and W. Burgard},
booktitle = {Proceedings of the Workshop on Advanced Reasoning with Depth Cameras at Robotics: Science and Systems Conference (RSS)},
address = {Zaragoza, Spain},
year = {2010},
pdfurl = {http://www.informatik.uni-freiburg.de/~sturm/media/sturm10rss.pdf}
}
@inproceedings{sturm10iros,
author = {J. Sturm and A. Jain and C. Stachniss and C. Kemp and W. Burgard},
title = {Operating Articulated Objects Based on Experience},
booktitle = {Proc. of the IEEE International Conference on Intelligent Robot Systems (IROS)},
address = {Taipei, Taiwan},
year = 2010,
url = {http://www.informatik.uni-freiburg.de/~sturm/media/sturm10iros.pdf}
}
@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 = {October},
pdfurl = {http://www.informatik.uni-freiburg.de/~wurm/papers/wurm12phd.pdf},
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,
address = {Saint Paul, MN, USA}
}
@inproceedings{wurm11iros,
author = {Kai M.~Wurm and Daniel Hennes and Dirk Holz and Radu B. Rusu and Cyrill Stachniss and Kurt Konolige and Wolfram Burgard},
title = {Hierarchies of Octrees for Efficient 3D Mapping},
booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
month = sep,
year = 2011,
address = {San Francisco, CA, USA},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/wurm11iros.pdf}
}
@inproceedings{wurm10iros,
author = {Kai M.~Wurm and Christian Dornhege and Patrick Eyerich and Cyrill Stachniss and Bernhard Nebel and Wolfram Burgard},
title = {Coordinated Exploration with Marsupial Teams of Robots using Temporal Symbolic Planning},
booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
month = oct,
year = 2010,
address = {Taipei, Taiwan},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/wurm10iros.pdf}
}
@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,
address = {Taipei, Taiwan},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/hornung10iros.pdf}
}
@inproceedings{wurm10octomap,
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,
address = {Anchorage, USA},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/wurm10octomap.pdf}
}
@inproceedings{karg10icra,
author = {M. Karg and K.M.~Wurm and C. Stachniss and K. Dietmayer and W. Burgard},
title = {Consistent Mapping of Multistory Buildings by Introducing Global Constraints to Graph-based SLAM},
booktitle = {Proc.~of the IEEE/RSJ International Conference on Robotics \& Automation (ICRA)},
year = 2010,
month = may,
address = {Anchorage, USA},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/karg10icra.pdf}
}
@inproceedings{wurm09iros,
author = {Wurm, K.M. and Kuemmerle, R. and Stachniss, C. and Burgard, W.},
title = {Improving Robot Navigation in Structured Outdoor Environments by Identifying Vegetation from Laser Data},
booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent
Robots and Systems (IROS)},
year = 2009,
month = oct,
address = {St. Louis, MO, USA},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/wurm09iros.pdf}
}
@article{wurm10ras,
title = {Bridging the Gap Between Feature- and Grid-based SLAM},
author = {Wurm, K.M. and Stachniss, C. and Grisetti, G.},
journal = {Robotics \& Autonomous Systems},
volume = {58},
number = {2},
pages = {140 - 148},
year = {2010},
issn = {0921-8890},
doi = {10.1016/j.robot.2009.09.009},
pdfurl = {http://ais.informatik.uni-freiburg.de/publications/papers/wurm10ras.pdf}
}
@inproceedings{wurm08iros,
author = {K.M. Wurm and Stachniss, C. and Burgard, W.},
title = {Coordinated Multi-Robot Exploration using a Segmentation of the Environment},
booktitle = {Proc.~of the IEEE/RSJ International Conference on Intelligent
Robots and Systems (IROS)},
year = 2008,
month = sep,
address = {Nice, France},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/wurm08iros.pdf}
}
@inproceedings{wurm07ecmr,
author = {Wurm, K. M. and Stachniss, C. and Grisetti, G. and Burgard, W.},
title = {Improved Simultaneous Localization and Mapping
using a Dual Representation of the Environment},
booktitle = {Proceedings of the European Conference on Mobile Robots (ECMR)},
address = {Freiburg, Germany},
year = 2007,
month = sep,
url = {http://ais.informatik.uni-freiburg.de/publications/papers/wurm07ecmr.pdf}
}
@mastersthesis{wurm07da,
author = {Wurm, Kai M.},
title = {Robustes {L}ernen von {U}mgebungskarten durch {I}ntegration verschiedener {R}epr{\"a}sentationen},
school = {Albert-Ludwigs-Universit{\"a}t},
address = {Freiburg},
type = {Diplomarbeit},
month = {July},
year = {2007},
note = {In German},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/wurm07da.pdf}
}
