Publications
[2024] [2023] [2022] [2021] [2020] [2019] [2018] [2017] [2016] [2015] [2014] [2013] [2012] [2011] [2010] [2009] [2008] [2007] [2006] [2005] [2004] [2003] [2002] [2001] [2000] before
2024
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Evaluation of a Smart Mobile Robotic System for Industrial Plant Inspection and Supervision. 2024. [ bib | .pdf ] |
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Collaborative Dynamic 3D Scene Graphs for Automated Driving. In 2024 IEEE International Conference on Robotics and Automation (ICRA), pages 11118--11124, 2024. [ bib | DOI | .pdf ] |
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Few-Shot Panoptic Segmentation With Foundation Models. In 2024 IEEE International Conference on Robotics and Automation (ICRA), pages 7718--7724, 2024. [ bib | DOI | .pdf ] |
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BEVCar: Camera-Radar Fusion for BEV Map and Object Segmentation. In 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024. [ bib | DOI | .pdf ] |
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Automatic Target-Less Camera-LiDAR Calibration from Motion and Deep Point Correspondences. arXiv preprint arXiv:2404.17298, 2024. [ bib | DOI | .pdf ] |
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A Good Foundation is Worth Many Labels: Label-Efficient Panoptic Segmentation. arXiv preprint arXiv:2405.19035, 2024. [ bib | DOI | .pdf ] |
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Bayesian Optimization for Sample-Efficient Policy Improvement in Robotic Manipulation. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Abu Dhabi, UAE, 2024. [ bib | .pdf ] |
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Learning Continuous Control with Geometric Regularity from Robot Intrinsic Symmetry. In 2024 IEEE International Conference on Robotics and Automation (ICRA), 2024. [ bib | DOI | .pdf ] |
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Agent-Agnostic Centralized Training for Decentralized Multi-Agent Cooperative Driving. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Abu Dhabi, UAE, 2024. [ bib | .pdf ] |
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Hierarchical Open-Vocabulary 3D Scene Graphs for Language-Conditioned Robot Navigation. 2024. [ bib | .pdf ] |
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Improving Out-Of-Distribution Generalization of Trajectory Prediction for Autonomous Driving via Polynomial Representations. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Abu Dhabi, UAE, 2024. [ bib | .pdf ] |
2023
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Visual Language Maps for Robot Navigation. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), London, UK, 2023. [ bib | .pdf ] |
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Uncertainty-aware LiDAR Panoptic Segmentation. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), London, UK, 2023. [ bib | .pdf ] |
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Grounding Language with Visual Affordances over Unstructured Data. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), London, UK, 2023. [ bib | .pdf ] |
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SkyEye: Self-Supervised Bird's-Eye-View Semantic Mapping Using Monocular Frontal View Images. arXiv preprint arXiv:2302.04233, 2023. [ bib | .pdf ] |
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Uncertainty-aware panoptic segmentation. IEEE Robotics and Automation Letters, 8(5):2629--2636, 2023. [ bib | .pdf ] |
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EvCenterNet: Uncertainty Estimation for Object Detection using Evidential Learning. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Detroit, USA, 2023. [ bib | .pdf ] |
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A Smart Robotic System for Industrial Plant Supervision. arXiv preprint arXiv:2308.05612, 2023. [ bib | .pdf ] |
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Robot Skill Generalization via Keypoint Integrated Soft Actor-Critic Gaussian Mixture Models. In Proceedings of the International Symposium on Experimental Robotics (ISER), Chiang Mai, Thailand, 2023. [ bib | .pdf ] |
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Continual SLAM: Beyond Lifelong Simultaneous Localization and Mapping Through Continual Learning. In , editors, Robotics Research, pages 19--35, Cham, 2023. Springer Nature Switzerland. [ bib | DOI | .pdf ] |
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PADLoC: LiDAR-Based Deep Loop Closure Detection and Registration Using Panoptic Attention. IEEE Robotics and Automation Letters, 8(3):1319--1326, 2023. [ bib | DOI | .pdf ] |
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CoVIO: Online Continual Learning for Visual-Inertial Odometry. In 2023 IEEE/CVF Conference on Computer Vision and Pattern Recognition Workshops (CVPRW), pages 2464--2473, 2023. [ bib | DOI | .pdf ] |
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CoDEPS: Online Continual Learning for Depth Estimation and Panoptic Segmentation. Robotics: Science and Systems (RSS), 2023. [ bib | DOI | .pdf ] |
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Audio Visual Language Maps for Robot Navigation. In 2023 International Symposium on Experimental Robotics (ISER), pages 105--117, 2023. [ bib | DOI | .pdf ] |
2022
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Courteous Behavior of Automated Vehicles at Unsignalized Intersections via Reinforcement Learning. IEEE Robotics and Automation Letters, 7(1):191--198, 2022. [ bib | DOI | .pdf ] |
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Affordance Learning from Play for Sample-Efficient Policy Learning. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Philadelphia, USA, 2022. [ bib | .pdf ] |
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Robust Monocular Localization in Sparse HD Maps Leveraging Multi-Task Uncertainty Estimation. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Philadelphia, USA, 2022. [ bib | .pdf ] |
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Robot Skill Adaptation via Soft Actor-Critic Gaussian Mixture Models. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Philadelphia, USA, 2022. [ bib | .pdf ] |
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Language-Conditioned Policy Learning for Long-Horizon Robot Manipulation Tasks. In Proc. of RSS Pioneers at Robotics: Science and Systems (RSS), New York, USA, 2022. [ bib | .pdf ] |
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Correct Me if I am Wrong: Interactive Learning for Robotic Manipulation. IEEE Robotics and Automation Letters, 2022. [ bib | .pdf ] |
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CALVIN: A Benchmark for Language-Conditioned Policy Learning for Long-Horizon Robot Manipulation Tasks. IEEE Robotics and Automation Letters (RA-L), 7(3):7327--7334, 2022. [ bib | DOI | .pdf ] |
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What Matters in Language Conditioned Robotic Imitation Learning Over Unstructured Data. IEEE Robotics and Automation Letters (RA-L), 7(4):11205--11212, 2022. [ bib | DOI | .pdf ] |
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Dynamic Update-to-Data Ratio: Minimizing World Model Overfitting. In Proc. of the Workshop on Decision Awareness in Reinforcement Learning on International Conference on Machine Learning (ICML), 2022. [ bib | .pdf ] |
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T3VIP: Transformation-based 3D Video Prediction. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Kyoto, Japan, 2022. [ bib | .pdf ] |
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Latent Plans for Task Agnostic Offline Reinforcement Learning. In Proceedings of the 6th Conference on Robot Learning (CoRL), Auckland, New Zealand, 2022. [ bib | .pdf ] |
2021
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Adaptively Calibrated Critic Estimates for Deep Reinforcement Learning. In Proc. of the Workshop on Deep Reinforcement Learning at the Conference on Neural Information Processing Systems (NeurIPS), December 2021. [ bib | .pdf ] |
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Camera-based Mapping and Localization in Varying Lighting Conditions. PhD thesis, University of Freiburg, Department of Computer Science, November 2021. [ bib | DOI | http ] |
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Perception and Learning for Mobile Robots in Populated Environments. PhD thesis, University of Freiburg, Department of Computer Science, May 2021. [ bib | DOI | http ] |
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Learning Navigation Policies with Deep Reinforcement Learning. PhD thesis, University of Freiburg, Department of Computer Science, April 2021. [ bib | DOI | http ] |
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Localization for precision navigation in agricultural fields—Beyond crop row following. Journal of Field Robotics, 38(3):429--451, 2021. [ bib | DOI | .pdf ] |
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Composing Pick-and-Place Tasks By Grounding Language. In Proceedings of the International Symposium on Experimental Robotics (ISER), La Valletta, Malta, 2021. [ bib | .pdf ] |
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Real-Time Outdoor Illumination Estimation for Camera Tracking in Indoor Environments. IEEE Robotics and Automation Letters, 2021. [ bib | DOI | .pdf ] |
2020
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Planning and Control for Industrial Manipulation. PhD thesis, University of Freiburg, Department of Computer Science, December 2020. [ bib | DOI | .pdf ] |
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Efficient Generalizations of Probabilistic Methods for Robot Localization and Mapping. PhD thesis, University of Freiburg, Department of Computer Science, July 2020. [ bib | DOI | http ] |
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Methods for Mobile Robot Localization Using Architectural Floor Plans. PhD thesis, University of Freiburg, Department of Computer Science, May 2020. [ bib | DOI | http ] |
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Leveraging Motion and Semantic Cues for 3D Scene Understanding. PhD thesis, University of Freiburg, Department of Computer Science, May 2020. [ bib | DOI | http ] |
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Highly Accurate Lidar-Based Mapping and Localization for Mobile Robots. PhD thesis, University of Freiburg, Department of Computer Science, March 2020. [ bib | DOI | http ] |
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A Robust Screen-Free Brain-Computer Interface for Robotic Object Selection. Frontiers in Robotics and AI, 7, 2020. Research Topic: Advances in the Integration of Brain-Machine Interfaces and Robotic Devices. [ bib | DOI | .pdf ] |
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Predicting Obstacle Footprints from 2D Occupancy Maps by Learning from Physical Interactions. In Proc. of the IEEE Int. Conf. on Robotics & Automation (ICRA), 2020. [ bib | .pdf ] |
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Adaptive Curriculum Generation from Demonstrations for Sim-To-Real Visuomotor Control. In Proceedings of the International Conference on Robotics and Automation (ICRA), Paris, France, 2020. [ bib | .pdf ] |
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Learning Object Placements For Relational Instructionsby Hallucinating Scene Representations. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Paris, France, 2020. [ bib | .pdf ] |
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Adversarial Skill Networks: Unsupervised Robot Skill Learning from Videos. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Paris, France, 2020. [ bib | .pdf ] |
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Camera Tracking in Lighting Adaptable Maps of Indoor Environments. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Paris, France, 2020. [ bib | .pdf ] |
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Self-supervised visual terrain̈ classification from unsupervised acoustic feature learning. IEEE Transactions on Robotics, 2020. [ bib | .pdf ] |
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Hindsight for Foresight: Unsupervised Structured Dynamics Models from Physical Interaction. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Las Vegas, USA, 2020. [ bib | .pdf ] |
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DeepTemporalSeg: Temporally Consistent Semantic Segmentation of 3D LiDAR Scans. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Paris, France, 2020. [ bib | .pdf ] |
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Modality-Buffet for Real-Time Object Detection. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Las Vegas, USA, 2020. [ bib | .pdf ] |
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HeatNet: Bridging the Day-Night Domain Gap in Semantic Segmentation with Thermal Images. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Las Vegas, USA, 2020. [ bib | .pdf ] |
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Improving Unimodal Object Recognition with Multimodal Contrastive Learning. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Las Vegas, USA, 2020. [ bib | .pdf ] |
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Efficiency and Equity are Both Essential: A Generalized Traffic Signal Controller with Deep Reinforcement Learning. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 5526--5533, Las Vegas, USA, 2020. [ bib | DOI | .pdf ] |
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Learning Human-Aware Robot Navigation from Physical Interaction via Inverse Reinforcement Learning. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 11025--11031, Las Vegas, USA, 2020. [ bib | DOI | .pdf ] |
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Building an Aerial-Ground Robotics System for Precision Farming: An Adaptable Solution. IEEE Robotics & Automation Magazine, 2020. [ bib | DOI | .pdf ] |
2019
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Robot Localization in Floor Plans Using a Room Layout Edge Extraction Network. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), November 2019. [ bib | .pdf ] |
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On the Bayes Filter for Shared Autonomy. IEEE Robotics and Automation Letters (RA-L), 4(4):3286--3293, October 2019. [ bib | DOI | .pdf ] |
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Vision-Based Autonomous UAV Navigation and Landing for Urban Search and Rescue. In Proc. of the International Symposium on Robotics Research (ISRR), Hanoi, Vietnam, October 2019. [ bib | .pdf ] |
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Learning User Preferences for Trajectories from Brain Signals. In Proceedings of the International Symposium on Robotics Research (ISRR), Hanoi, Vietnam, October 2019. [ bib | .pdf ] |
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Long-Term Urban Vehicle Localization Using Pole Landmarks Extracted from 3-D Lidar Scans. In European Conference on Mobile Robots (ECMR), pages 1--7, September 2019. [ bib | DOI | .pdf ] |
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Self-Supervised Model Adaptation for Multimodal Semantic Segmentation. International Journal of Computer Vision (IJCV), July 2019. Special Issue: Deep Learning for Robotic Vision. [ bib | DOI | .pdf ] |
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Scheduled Intrinsic Drive: A Hierarchical Take on Intrinsically Motivated Exploration. In Proc. of the Workshop of Exploration in Reinforcement Learning at IEEE International Conference on Machine Learning (ICML), Long Beach, USA, June 2019. [ bib | .pdf ] |
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Leveraging Sparse and Dense Features for Reliable State Estimation in Urban Environments. PhD thesis, University of Freiburg, Department of Computer Science, June 2019. [ bib | DOI | .pdf ] |
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A Maximum Likelihood Approach to Extract Finite Planes from 3-D Laser Scans. In IEEE International Conference on Robotics and Automation (ICRA), pages 72--78, May 2019. [ bib | DOI | .pdf ] |
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Augmenting Action Model Learning by Non-Geometric Features. In 2019 IEEE International Conference on Robotics and Automation (ICRA). IEEE, May 2019. [ bib | .pdf ] |
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Discovering and Leveraging Deep Multimodal Structure for Reliable Robot Perception and Localization. PhD thesis, University of Freiburg, Department of Computer Science, February 2019. [ bib | DOI | .pdf ] |
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A Pose Graph-based Localization System for Long-term Navigation in CAD Floor Plans. Robotics and Autonomous Systems, 112:84--97, 2019. [ bib | DOI | http ] |
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Deep 3D perception of people and their mobility aids. Robotics and Autonomous Systems, 114:29--40, 2019. [ bib | DOI | .pdf ] |
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Modeling and Planning Manipulation in Dynamic Environments. In 2019 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2019. [ bib | .pdf ] |
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VR-Goggles for Robots: Real-to-Sim Domain Adaptation for Visual Control. IEEE Robotics and Automation Letters (RA-L), 4(2):1148--1155, 2019. [ bib | DOI | .pdf ] |
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Multitask Learning for Reliable State Estimation. In Proc. of RSS Pioneers at Robotics: Science and Systems (RSS), Freiburg, Germany, 2019. [ bib | .pdf ] |
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Influence of User Tasks on EEG-Based Classification Performance in a Hazard Detection Paradigm. In 2019 41st Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), Berlin, Germany, 2019. [ bib | .pdf ] |
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Heterogeneity of Event-Related Potentials in a Screen-Free Brain-Computer Interface. In Proceedings of the 8th Graz Brain-Computer Interface Conference 2019, Graz, Austria, 2019. [ bib | .pdf ] |
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State Estimation in Contact-Rich Manipulation. In 2019 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2019. [ bib | .pdf ] |
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Self-supervised 3D Shape and Viewpoint Estimation from Single Images for Robotics. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Macao, China, 2019. [ bib | .pdf ] |
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Robot Localization and Mapping in Dynamic Environments. PhD thesis, University of Freiburg, Department of Computer Science, Autonomous Intelligent Systems Group, 2019. [ bib | DOI | http ] |
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Self-supervised Transfer Learning for Instance Segmentation through Physical Interaction. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Macau, China, 2019. [ bib | .pdf ] |
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Planning Reactive Manipulation in Dynamic Environments. In 2019 International Conference on Intelligent Robots and Systems (IROS). IEEE, 2019. [ bib | .pdf ] |
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Combined Task and Action Learning from Human Demonstrations for Mobile Manipulation Applications. In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hong Kong, China, 2019. [ bib | DOI | .pdf ] |
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Robust, Compliant Assembly with Elastic Parts and Model Uncertainty. In 2019 International Conference on Intelligent Robots and Systems (IROS). IEEE, 2019. [ bib | .pdf ] |
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Smooth Local Planning Incorporating Steering Constraints. In 12th Conference on Field and Service Robotics (FSR), 2019. [ bib | .pdf ] |
2018
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Mapping and Localization using Multispectral Imaging of the Soil. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Unconventional Sensing and Processing for Robotic Visual Perception Workshop, October 2018. [ bib | .pdf ] |
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A Maximum Likelihood Approach to Extract Polylines from 2-D Laser Range Scans. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 4766--4773, October 2018. [ bib | DOI | .pdf ] |
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Guess What I Attend: Interface-Free Object Selection Using Brain Signals. In 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 7111--7116, Madrid, Spain, October 2018. [ bib | DOI | .pdf ] |
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Mapping with Dynamic-Object Probabilities Calculated from Single 3D Range Scans. In Proc. of the IEEE Int. Conf. on Robotics & Automation (ICRA), Brisbane, Australia, May 2018. [ bib | .pdf ] |
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DCT Maps: compact Differentiable Lidar Maps Based on the Cosine Transform. IEEE Robotics and Automation Letters (RA-L), 3(2):1002--1009, April 2018. [ bib | DOI | .pdf ] |
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Detecting Changes in the Environment Based on Full Posterior Distributions Over Real-Valued Grid Maps. IEEE Robotics and Automation Letters (RA-L), 3(2):1299--1305, April 2018. [ bib | DOI | .pdf ] |
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Deep Auxiliary Learning for Visual Localization and Odometry. In Proc. of the IEEE Int. Conf. on Robotics & Automation (ICRA), Brisbane, Australia, 2018. [ bib | .pdf ] |
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Optimization Beyond the Convolution: Generalizing Spatial Relations with End-to-End Metric Learning. In Proc. of the IEEE Int. Conf. on Robotics & Automation (ICRA), Brisbane, Australia, 2018. [ bib | .pdf ] |
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Socially Compliant Navigation through Raw Depth Inputs with Generative Adversarial Imitation Learning. In Proc. of the IEEE Int. Conf. on Robotics & Automation (ICRA), Brisbane, Australia, 2018. [ bib | .pdf ] |
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Curiosity-driven Exploration for Mapless Navigation with Deep Reinforcement Learning. In Proc. of the Workshop in Machine Learning in the Planning and Control of Robot Motion at IEEE Int. Conf. on Robotics & Automation (ICRA), Brisbane, Australia, 2018. [ bib | .pdf ] |
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Whole-Body Sensory Concept for Compliant Mobile Robots. In Proc. of the IEEE Int. Conf. on Robotics & Automation (ICRA), Brisbane, Australia, 2018. [ bib | .pdf ] |
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3D Human Pose Estimation in RGBD Images for Robotic Task Learning. In Proc. of the IEEE Int. Conf. on Robotics & Automation (ICRA), Brisbane, Australia, 2018. [ bib | .pdf ] |
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Accurate Pouring with an Autonomous Robot Using an RGB-D Camera. In The 15th International Conference on Intelligent Autonomous Systems (IAS), Baden Baden, Germany, 2018. [ bib | .pdf ] |
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Learning Reliable and Scalable Representations Using Multimodal Multitask Deep Learning. In Proc. of RSS Pioneers at Robotics: Science and Systems (RSS), Pittsburgh, USA, 2018. [ bib | .pdf ] |
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Incorporating Semantic and Geometric Priors in Deep Pose Regression. In Proc. of the Workshop on Learning and Inference in Robotics: Integrating Structure, Priors and Models at Robotics: Science and Systems (RSS), Pittsburgh, USA, 2018. [ bib | .pdf ] |
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Courtesy Behavior for Highly Automated Vehicles on Highway Interchanges. In IEEE Intelligent Vehicles Symposium (IV), pages 943--948, 2018. [ bib | DOI | .pdf ] |
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Crop Row Detection on Tiny Plants With the Pattern Hough Transform. IEEE Robotics and Automation Letters (RA-L), 3(4):3394--3401, 2018. [ bib | DOI | .pdf ] |
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Effective Interaction-aware Trajectory Prediction using Temporal Convolutional Neural Networks. In Proc. of the Workshop on Crowd Navigation: Current Challenges and New Paradigms for Safe Robot Navigation in Dense Crowds at IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), Madrid, Spain, 2018. [ bib | .pdf ] |
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Closed-Loop Robot Task Planning Based on Referring Expressions. In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, 2018. [ bib | .pdf ] |
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VLocNet++: Deep Multitask Learning for Semantic Visual Localization and Odometry. IEEE Robotics and Automation Letters (RA-L), 3(4):4407--4414, 2018. [ bib | DOI | .pdf ] |
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Vision-based Autonomous Landing in Catastrophe-Struck Environments. In Proc. of the Workshop on Vision-based Drones: What's Next? at IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), Madrid, Spain, 2018. [ bib | .pdf ] |
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Learning a Local Feature Descriptor for 3D LiDAR Scans. In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, 2018. [ bib | .pdf ] |
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Building Dense Reflectance Maps of Indoor Environments using an RGB-D Camera. In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, 2018. [ bib | .pdf ] |
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Coupling Mobile Base and End-Effector Motion in Task Space. In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, 2018. [ bib | .pdf ] |
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Recursive decentralized localization for multi-robot systems with asynchronous pairwise communication. The International Journal of Robotics Research, 37(10):1152--1167, 2018. [ bib | DOI | .pdf ] |
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Robust, Compliant Assembly via Optimal Belief Space Planning. In 2018 IEEE International Conference on Robotics and Automation (ICRA), pages 1--5. IEEE, 2018. [ bib | .pdf ] |
2017
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Closed-Form Full Map Posteriors for Robot Localization with Lidar Sensors. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 6678--6684, September 2017. [ bib | DOI | .pdf ] |
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From Plants to Landmarks: time-invariant Plant Localization that uses Deep Pose Regression in Agricultural Fields. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Agri-Food Robotics Workshop, September 2017. [ bib | .pdf ] |
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An Analytical Lidar Sensor Model Based on Ray Path Information. IEEE Robotics and Automation Letters (RA-L), 2(3):1405--1412, July 2017. [ bib | DOI | .pdf ] |
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Shakey 2016 - How Much Does it Take to Redo Shakey the Robot? IEEE Robotics and Automation Letters (RA-L), 2(2):1203--1209, 2017. [ bib | DOI | .pdf ] |
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Decoding Perceived Hazardousness from User's Brain States to Shape Human-Robot Interaction. In Proceedings of the Companion of the 2017 ACM/IEEE International Conference on Human-Robot Interaction, pages 349--350, Vienna, Austria, 2017. [ bib | DOI | .pdf ] |
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AdapNet: Adaptive Semantic Segmentation in Adverse Environmental Conditions. In Proc. of the IEEE International Conference on Robotics & Automation (ICRA), Singapore, 2017. [ bib | .pdf ] |
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Metric Learning for Generalizing Spatial Relations to New Objects. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, Canada, 2017. [ bib | .pdf ] |
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Efficient Path Planning for Mobile Robots with Adjustable Wheel Positions. In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), Singapore, 2017. [ bib | .pdf ] |
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Semantics-aware Visual Localization under Challenging Perceptual Conditions. In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), Singapore, 2017. [ bib | .pdf ] |
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Vision-based Markov Localization for Long-term Autonomy. Robotics and Autonomous Systems (RAS), 2017. [ bib | http ] |
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Global Outer-Urban Navigation with OpenStreetMap. In Proc. of the IEEE Int. Conf. on Robotics & Automation (ICRA), Singapore, Singapore, 2017. [ bib | .pdf ] |
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Deep Semantic Classification for 3D LiDAR Data. In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017. [ bib | .pdf ] |
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SMSnet: Semantic Motion Segmentation using Deep Convolutional Neural Networks. In Proc. of the IEEE Int. Conf. on Intelligent Robots and Systems (IROS), 2017. [ bib | .pdf ] |
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Why Did the Robot Cross the Road? - Learning from Multi-Modal Sensor Data for Autonomous Road Crossing. In Proc. of the IEEE Int. Conf. on Intelligent Robots and Systems (IROS), 2017. [ bib | .pdf ] |
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Agricultural robot dataset for plant classification, localization and mapping on sugar beet fields. The International Journal of Robotics Research (IJRR), 36(10):1045--1052, 2017. [ bib | DOI | arXiv | http ] |
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Decoding Hazardous Events in Driving Videos. In Proceedings of the 7th Graz Brain-Computer Interface Conference 2017, pages 242--247, Graz, Austria, 2017. [ bib | DOI | .pdf ] |
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Deep Spatiotemporal Models for Robust Proprioceptive Terrain Classification. The International Journal of Robotics Research (IJRR), 36(13--14):1521--1539, 2017. [ bib | DOI | .pdf ] |
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Robot Localization with Sparse Scan-based Maps. In Proc. of the IEEE Int. Conf. on Intelligent Robots and Systems (IROS), 2017. [ bib | .pdf ] |
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An Online System for Tracking the Performance of Parkinson's Patients. In Proc. of the IEEE Int. Conf. on Intelligent Robots and Systems (IROS), 2017. [ bib | .pdf ] |
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Learning Mobile Manipulation Actions from Human Demonstrations. In Proc. of the IEEE Int. Conf. on Intelligent Robots and Systems (IROS), Vancouver, Canada, 2017. [ bib | .pdf ] |
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Robust LiDAR-based Localization in Architectural Floor Plans. In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, Canada, 2017. [ bib | DOI | .pdf ] |
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Deep Regression for Monocular Camera-based 6-DoF Global Localization in Outdoor Environments. In Proc. of the IEEE Int. Conf. on Intelligent Robots and Systems (IROS), 2017. [ bib | .pdf ] |
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Deep Reinforcement Learning with Successor Features for Navigation across Similar Environments. In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017. [ bib | .pdf ] |
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Deep Detection of People and their Mobility Aids for a Hospital Robot. In Proc. of the IEEE European Conference on Mobile Robotics (ECMR), 2017. [ bib | .pdf ] |
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Acting Thoughts: Towards a Mobile Robotic Service Assistant for Users with Limited Communication Skills. In Proc. of the IEEE European Conference on Mobile Robotics (ECMR), Paris, France, 2017. [ bib | .pdf ] |
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A Probabilistic Approach to Liquid Level Detection in Cups Using an RGB-D Camera. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Daejeon, Korea, 2016. [ bib | .pdf ] |
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Automatic channel selection in neural microprobes: A combinatorial multi-armed bandit approach. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 1844--1850, Daejeon, Korea, 2016. [ bib | DOI | .pdf ] |
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BI2RRT*: An efficient sampling-based path planning framework for task-constrained mobile manipulation. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 3714--3721, Daejeon, Korea, 2016. [ bib | DOI | .pdf ] |
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Learning Manipulation Actions from Human Demonstrations. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 3772--3777, Daejeon, Korea, 2016. [ bib | DOI | .pdf ] |
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Organizing objects by predicting user preferences through collaborative filtering. The International Journal of Robotics Research, 2016. [ bib | DOI | .pdf ] |
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Self-Calibration of Accelerometer Arrays. IEEE Transactions on Instrumentation and Measurement, 65(8):1913--1925, 2016. [ bib | DOI | .pdf ] |
2015
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Highly Accurate Mobile Robot Navigation. PhD thesis, Albert-Ludwigs-University of Freiburg, Department of Computer Science, November 2015. [ bib | .pdf ] |
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Robust Graph-Based Localization and Mapping. PhD thesis, Albert-Ludwigs-University of Freiburg, Department of Computer Science, April 2015. [ bib | .pdf ] |
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An Experimental Protocol for Benchmarking Robotic Indoor Navigation. In , editors, Experimental Robotics, volume 109 of Springer Tracts in Advanced Robotics, pages 487--504. Springer International Publishing, 2015. [ bib | DOI | .pdf ] |
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Robot, Organize my Shelves! Tidying up Objects by Predicting User Preferences. In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), Seattle, USA, 2015. [ bib | .pdf ] |
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Learning Driving Styles for Autonomous Vehicles from Demonstration. In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), Seattle, USA, 2015. [ bib | .pdf ] |
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Maximum Likelihood Remission Calibration for Groups of Heterogeneous Laser Scanners. In Proc. of the IEEE Int. Conf. on Robotics & Automation (ICRA), 2015. [ bib | .pdf ] |
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Traversability Analysis for Mobile Robots in Outdoor Environments: A Semi-Supervised Learning Approach Based on 3D-Lidar Data. In Proc. of the IEEE Int. Conf. on Robotics & Automation (ICRA), 2015. [ bib | .pdf ] |
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Localization on OpenStreetMap Data using a 3D Laser Scanner. In Proc. of the IEEE Int. Conf. on Robotics & Automation (ICRA), 2015. [ bib | .pdf ] |
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Automatic Extrinsic Calibration of Multiple Laser Range Sensors with Little Overlap. In Proc. of the IEEE Int. Conf. on Robotics & Automation (ICRA), 2015. [ bib | .pdf ] |
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3D-Reconstruction of Indoor Environments from Human Activity. In Proc. of the IEEE Int. Conf. on Robotics & Automation (ICRA), 2015. [ bib | .pdf ] |
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Automatic Initialization for Skeleton Tracking in Optical Motion Capture. In Proc. of the IEEE Int. Conf. on Robotics & Automation (ICRA), pages 734--739, 2015. [ bib | .pdf ] |
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An Autonomous Robotic Assistant for Drinking. In Proc. of the IEEE Int. Conf. on Robotics & Automation (ICRA), 2015. [ bib | .pdf ] |
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LexTOR: Lexicographic Teach Optimize and Repeat Based on User Preferences. In Proc. of the IEEE Int. Conf. on Robotics & Automation (ICRA), Seattle, 2015. [ bib | .pdf ] |
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Vision-Based Markov Localization Across Large Perceptual Changes. In Proc. of the IEEE European Conference on Mobile Robots (ECMR), Lincoln, 2015. [ bib | .pdf ] |
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Attitude Stabilization Control of an Aerial Manipulator using a Quaternion-based Backstepping Approach. In Proc. of the IEEE European Conference on Mobile Robots (ECMR), Lincoln, 2015. [ bib | .pdf ] |
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Robot Navigation in Hand-Drawn Sketched Maps. In Proc. of the IEEE European Conference on Mobile Robots (ECMR), Lincoln, 2015. [ bib | DOI | .pdf ] |
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Time Dependent Planning on a Layered Social Cost Map for Human-Aware Robot Navigation. In Proc. of the IEEE European Conference on Mobile Robots (ECMR), Lincoln, 2015. [ bib | .pdf ] |
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Deep Feature Learning for Acoustic-based Terrain Classification. In Proc. of the International Symposium on Robotics Research (ISRR), Sestri Levante, 2015. [ bib | .pdf ] |
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Relative Topometric Localization in Globally Inconsistent Maps. In Proc. of the International Symposium on Robotics Research (ISRR), Sestri Levante, 2015. [ bib | .pdf ] |
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Accurate Indoor Localization for RGB-D Smartphones and Tablets given 2D Floor Plans. In Proc. of the IEEE Int. Conf. on Intelligent Robots and Systems (IROS), 2015. [ bib | .pdf ] |
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Accurate Localization with Respect to Moving Objects via Multiple-Body Registration. In Proc. of the IEEE Int. Conf. on Intelligent Robots and Systems (IROS), 2015. [ bib | .pdf ] |
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Robust Visual SLAM Across Seasons. In Proc. of the IEEE Int. Conf. on Intelligent Robots and Systems (IROS), 2015. [ bib | .pdf ] |
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Navigating Blind People with a Smart Walker. In Proc. of the IEEE Int. Conf. on Intelligent Robots and Systems (IROS), Hamburg, Germany, 2015. [ bib | .pdf ] |
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Monte Carlo Localization in Hand-Drawn Maps. In Proc. of the IEEE Int. Conf. on Intelligent Robots and Systems (IROS), Hamburg, Germany, 2015. [ bib | .pdf ] |
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Metric Localization using Google Street View. In Proc. of the IEEE Int. Conf. on Intelligent Robots and Systems (IROS), Hamburg, Germany, 2015. [ bib | .pdf ] |
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Multimodal Deep Learning for Robust RGB-D Object Recognition. In Proc. of the IEEE Int. Conf. on Intelligent Robots and Systems (IROS), Hamburg, Germany, 2015. [ bib | .pdf ] |
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Learning motor control parameters for motion strategy analysis of Parkinson's disease patients. In Proc. of the IEEE Int. Conf. on Intelligent Robots and Systems (IROS), pages 5019--5025, Hamburg, Germany, 2015. [ bib | DOI | .pdf ] |
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Efficient and Effective Matching of Image Sequences Under Substantial Appearance Changes Exploiting GPS Priors. In Proc. of the IEEE Int. Conf. on Robotics & Automation (ICRA), 2015. [ bib | .pdf ] |
2014
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A Survey of Geodetic Approaches to Mapping and the Relationship to Graph-Based SLAM. Robotics and Automation Magazine, September 2014. [ bib | DOI | .pdf ] |
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Automatic Channel Selection and Neural Signal Estimation across Channels of Neural Probes. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 1453--1459, Chicago, IL, USA, September 2014. [ bib | DOI | .pdf ] |
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Learning to Give Route Directions from Human Demonstrations. In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), pages 3303--3308, Hong Kong, China, May 2014. [ bib | DOI | .pdf ] |
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Efficient Estimation of Expected Distributions for Mobile Robot Navigation. In Proc. of the Austrian Robotics Workshop (ARW), Linz, Austria, May 2014. [ bib | .pdf ] |
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Learning object deformation models for robot motion planning. Robotics and Autonomous Systems, 62(8):1153--1174, April 2014. [ bib | DOI | .pdf ] |
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3D Mapping with an RGB-D Camera. IEEE Trans. on Robotics, 30(1):177--187, February 2014. [ bib | DOI | .pdf ] |
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An Approach to Solving Large-Scale SLAM Problems with a Small Memory Footprint. In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), 2014. [ bib | DOI | .pdf ] |
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W-RGB-D: Floor-Plan-Based Indoor Global Localization Using a Depth Camera and WiFi. In Proc. of the IEEE Int. Conf. on Robotics & Automation (ICRA), Hong Kong, China, 2014. [ bib | DOI | .pdf ] |
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Inferring What to Imitate in Manipulation Actions by Using a Recommender System. In Proc. of the IEEE Int. Conf. on Robotics & Automation (ICRA), Hong Kong, China, 2014. [ bib | DOI ] |
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Robust Visual Robot Localization Across Seasons using Network Flows. In Proc. of the Conf. of the Association for the Advancement of Artificial Intelligence (AAAI), Quebec, Canada, 2014. In press. [ bib | .pdf ] |
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Online Marker Labeling for Fully Automatic Skeleton Tracking in Optical Motion Caputure. In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), 2014. [ bib | DOI | .pdf ] |
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A Statistical Measure for Map Consistency in SLAM. In Proc. of the IEEE Int. Conf. on Robotics & Automation (ICRA), Hong Kong, 2014. [ bib | DOI | .pdf ] |
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Nonlinear Graph Sparsification for SLAM. In Proc. of Robotics: Science and Systems (RSS), Berkeley, 2014. [ bib | .pdf ] |
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Reconstruction of Rigid Body Models from Motion Distorted Laser Range Data Using Optical Flow. In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), Hong Kong, China, 2014. [ bib | DOI | .pdf ] |
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Identifying Vegetation from Laser Data in Structured Outdoor Environments. Robotics and Autonomous Systems, 62:675--684, 2014. [ bib | DOI | http ] |
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Online Generation of Homotopically Distinct Navigation Paths. In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, China, 2014. [ bib | DOI | .pdf ] |
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Learning to Predict Trajectories of Cooperatively Navigating Agents. In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, China, 2014. [ bib | DOI | .pdf ] |
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An Approach to Socially Compliant Leader Following for Mobile Robots. In Social Robotics, volume 8755 of Lecture Notes in Computer Science, pages 239--248. Springer International Publishing, 2014. [ bib | DOI | .pdf ] |
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Learning and Utilizing Spatial Object Relations for Service Robots. PhD thesis, Albert-Ludwigs-Universität Freiburg, 2014. [ bib | .pdf ] |
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Helmert's and Bowie's Geodetic Mapping Methods and Their Relationship to Graph-Based SLAM. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, China, 2014. [ bib | DOI | .pdf ] |
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Experimental Analysis of Dynamic Covariance Scaling for Robust Map Optimization Under Bad Initial Estimates. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, China, 2014. [ bib | DOI | .pdf ] |
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A Navigation Aid for Blind People with Walking Disabilities. In IROS Workshop on Rehabilitation and Assistive Robotics: Bridging the Gap Between Clinicians and Roboticists, Chicago, USA, 2014. [ bib | .pdf ] |
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A Catadioptric Extension for RGB-D Cameras. In Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2014. [ bib | DOI | .pdf ] |
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Autonomous Robot Navigation in Highly Populated Pedestrian Zones. Journal of Field Robotics, 2014. [ bib | DOI | .pdf ] |
2013
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Lifelong localization in changing environments. International Journal of Robotics Research, 32(14), December 2013. [ bib | .pdf ] |
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Efficient Navigation for Anyshape Holonomic Mobile Robots in Dynamic Environments. In Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), Tokyo, Japan, November 2013. [ bib | DOI | .pdf ] |
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Lidar-based Teach-and-Repeat of Mobile Robot Trajectories. In Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), Tokyo, Japan, November 2013. [ bib | DOI | .pdf ] |
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Robust Landmark Selection for Mobile Robot Navigation. In Proc. of the IEEE Int. Conf. on Intelligent Robots and Systems (IROS), Tokyo, Japan, November 2013. [ bib | DOI | .pdf ] |
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Learning the Dynamics of Doors for Robotic Manipulation. In Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), Tokyo, Japan, November 2013. [ bib | DOI | .pdf ] |
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Inference on networks of mixtures for robust robot mapping. International Journal of Robotics Research, 32(7):826--840, July 2013. [ bib | DOI | .pdf ] |
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Autonomous Navigation for Miniature Indoor Airships. PhD thesis, Albert-Ludwigs-University of Freiburg, Department of Computer Science, June 2013. [ bib | .pdf ] |
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Online Marker Labeling for Automatic Skeleton Tracking in Optical Motion Capture. In Proceedings of the ICRA Workshop on Computational Techniques in Natural Motion Analysis and Reconstruction, Karlsruhe, Germany, May 2013. [ bib | .pdf ] |
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Deploying Artificial Landmarks to Foster Data Association in Simultaneous Localization and Mapping. In Proc. of the IEEE Int. Conf. on Robotics & Automation (ICRA), Karlsruhe, Germany, May 2013. [ bib | DOI | .pdf ] |
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Poisson-Driven Dirt Maps for Efficient Robot Cleaning. In Proc. of the IEEE Int. Conf. on Robotics & Automation (ICRA), pages 2245--2250, Karlsruhe, Germany, May 2013. [ bib | DOI | .pdf ] |
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Dynamic Covariance Scaling for Robust Robotic Mapping. In Workshop on robust and Multimodal Inference in Factor Graphs, ICRA, Karlsruhe, Germany, May 2013. [ bib | DOI | .pdf ] |
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Robust Map Optimization using Dynamic Covariance Scaling. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Karlsruhe, Germany, May 2013. [ bib | DOI | .pdf ] |
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Interactive Perception for Learning the Dynamics of Articulated Objects. In Proceedings of the ICRA 2013 Mobile Manipulation Workshop on Interactive Perception, Karlsruhe, Germany, May 2013. [ bib | .pdf ] |
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Feature-Based 3D Perception for Mobile Robots. PhD thesis, Albert-Ludwigs-University of Freiburg, Department of Computer Science, April 2013. [ bib | .pdf ] |
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Identification of Critical Variables using an FPGA-based Fault Injection Framework. In Proceedings of the IEEE VLSI Test Symposium (VTS), Berkeley, CA, USA, April 2013. [ bib | .pdf ] |
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State Estimation and Optimization for Mobile Robot Navigation. PhD thesis, Albert-Ludwigs-University of Freiburg, Department of Computer Science, April 2013. [ bib | .pdf ] |
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Identification of Critical Variables using an FPGA-based Fault Injection Framework. In Proceedings of the Workshop Testmethoden und Zuverlässigkeit von Schaltungen und Systemen (TUZ), Dresden, Germany, February 2013. [ bib | .pdf ] |
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Geometrical FLIRT Phrases for Large Scale Place Recognition in 2D Range Data. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2013. [ bib | DOI | .pdf ] |
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Cooperative Robot Localization and Target Tracking based on Least Square Minimization. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2013. [ bib | DOI | .pdf ] |
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Coordinating Heterogeneous Teams of Robots using Temporal Symbolic Planning. Autonomous Robots, 34, 2013. [ bib | .pdf ] |
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Vision-Based Humanoid Navigation Using Self- Supervised Obstacle Detection. The Int. Journal of Humanoid Robotics (IJHR), 10, 2013. [ bib | .pdf ] |
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OctoMap: An Efficient Probabilistic 3D Mapping Framework Based on Octrees. Autonomous Robots, 34:189--206, 2013. [ bib | .pdf ] |
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Gestatten, Obelix! Forschung -- Das Magazin der Deutschen Forschungsgemeinschaft, 1, 2013. In German, invited. [ bib | .pdf ] |
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Efficient Traversability Analysis for Mobile Robots using the Kinect Sensor. In Proc. of the European Conference on Mobile Robots (ECMR), Barcelona, Spain, 2013. [ bib | .pdf ] |
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Efficient grid-based spatial representations for robot navigation in dynamic environments. Robotics and Autonomous Systems, 61(10):1116--1130, 2013. [ bib | .pdf ] |
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Compact RGBD Surface Models Based on Sparse Coding. In Proc. of the National Conference on Artificial Intelligence (AAAI), 2013. [ bib | .pdf ] |
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Learning to Guide Random Tree Planners in High Dimensional Spaces. In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Tokyo Big Sight, Japan, 2013. [ bib | .pdf ] |
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Computing Velocities and Accelerations from a Pose Time Sequence in Three-dimensional Space. Technical Report 272, University of Freiburg, Department of Computer Science, 2013. [ bib | .pdf ] |
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Efficient Probabilistic Localization for Autonomous Indoor Airships using Sonar, Air Flow, and IMU Sensors. Advanced Robotics, 27(9):711--724, 2013. [ bib | DOI | .pdf ] |
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A Wireless Micro Inertial Measurement Unit (IMU). IEEE Transactions on Instrumentation & Measurement, 2013. [ bib | DOI | .pdf ] |
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A Navigation System for Robots Operating in Crowded Urban Environments. In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), Karlsruhe, Germany, 2013. [ bib | .pdf ] |
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Learning Manipulation Actions from a Few Demonstrations. In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), Karlsruhe, Germany, 2013. [ bib | DOI | .pdf ] |
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Teaching Mobile Robots to Cooperatively Navigate in Populated Environments. In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Tokyo, Japan, 2013. [ bib | DOI | .pdf ] |
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Effective Landmark Placement for Accurate and Reliable Mobile Robot Navigation. Robotics and Autonomous Systems (RAS), 61(10):1060--1069, 2013. [ bib | DOI | .pdf ] |
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Learning Reactive Robot Navigation Policies from Predictive Trajectory Planning. Master's thesis, University of Freiburg, Department of Computer Science, Autonomous Intelligent Systems Group, Freiburg, 2013. [ bib | .pdf ] |
2012
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Robust Tracking of a Mobile Beacon using Time Differences of Arrival with Simultaneous Calibration of Receiver Positions. In Proceedings of the International Conference on Indoor Positioning and Indoor Navigation (IPIN), Sydney, Australia, November 2012. [ bib | .pdf ] |
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Robust Optimization of Factor Graphs by using Condensed Measurements. In Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), Vilamoura, Portugal, October 2012. [ bib | DOI | .pdf ] |
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An Evaluation of the RGB-D SLAM System. In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), St. Paul, Minnesota, May 2012. [ bib | DOI | .pdf ] |
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2011
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Range Sensor Based Model Construction by Sparse Surface Adjustment. In Proc. of the IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO), Half Moon Bay, CA, USA, October 2011. [ bib | .pdf ] |
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Simultaneous Localization and Dynamic State Estimation in Reconfigurable Environments. In Proc. of the IEEE/RSJ IROS Workshop on Metrics and Methodologies for Autonomous Robot Teams in Logistics (MMART-LoG), San Francisco, USA, October 2011. [ bib | .pdf ] |
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Hierarchies of Octrees for Efficient 3D Mapping. In Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), San Francisco, CA, USA, September 2011. [ bib | DOI | .pdf ] |
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Autonomous Miniature Blimp Navigation with Online Motion Planning and Re-planning. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 4941--4946, San Francisco, CA, USA, September 2011. [ bib | .pdf ] |
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Landmark Placement for Accurate Mobile Robot Navigation. In Proc. of the European Conf. on Mobile Robots (ECMR), pages 55--60, Örebro, Sweden, September 2011. [ bib | .pdf ] |
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An FPGA-Based Framework for Run-time Injection and Analysis of Soft Errors in Microprocessors. In Proceedings of the IEEE International On-Line Testing Symposium (IOLTS), pages 182--185, Athens, Greece, July 2011. [ bib | .pdf ] |
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Grid-Based Models for Dynamic Environments. Technical report, Dept. of Computer Science, University of Freiburg, July 2011. [ bib | .pdf ] |
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Online Generation of Kinodynamic Trajectories for Non-Circular Omnidirectional Robots. In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), pages 72--77, Shanghai, China, May 2011. [ bib | DOI | .pdf ] |
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Highly Accurate Maximum Likelihood Laser Mapping by Jointly Optimizing Laser Points and Robot Poses. In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), Shanghai, China, May 2011. [ bib | DOI | .pdf ] |
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Learning Search Heuristics for Finding Objects in Structured Environments. Robotics and Autonomous Systems, 59(5):319--328, May 2011. [ bib | DOI | .pdf ] |
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Using Artificial Landmarks to Reduce the Ambiguity in the Environment of a Mobile Robot. In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), pages 5173--5178, Shanghai, China, May 2011. [ bib | DOI | .pdf ] |
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Near-optimal Landmark Selection for Mobile Robot Navigation. In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), pages 4744--4749, Shanghai, China, May 2011. [ bib | DOI | .pdf ] |
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Run-time Soft Error Injection and Testing of a Microprocessor using FPGAs. In Proceedings of the Workshop Testmethoden und Zuverlässigkeit von Schaltungen und Systemen (TUZ), Passau, Germany, February 2011. [ bib | .pdf ] |
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Point Feature Extraction on 3D Range Scans Taking into Account Object Boundaries. In Proc. of the IEEE Int. Conf. on Robotics & Automation (ICRA), 2011. [ bib | DOI | .pdf ] |
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Using Gaussian Process Regression for Efficient Motion Planning in Environments with Deformable Objects. In Proc. of the AAAI-11 Workshop on Automated Action Planning for Autonomous Mobile Robots (PAMR), San Francisco, CA, USA, 2011. [ bib | .pdf ] |
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Mobile Manipulation of Kitchen Containers. In Proc. of the IROS'11 Workshop on Results, Challenges and Lessons Learned in Advancing Robots with a Common Platform, San Francisco, CA, USA, 2011. [ bib | DOI | .pdf ] |
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Integrated Perception and Navigation in Complex Indoor Environments. In Proc. of the IEEE-RAS Int. Conf. on Humanoid Robots (HUMANOIDS), 2011. Invited presentation at the workshop on Humanoid service robot navigation in crowded and dynamic environments. [ bib ] |
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Incremental Updates of Configuration Space Representations for Non-Circular Mobile Robots with 2D, 2.5D, or 3D Obstacle Models. In European Conference on Mobile Robots (ECMR), pages 49--54, Örebro, Sweden, 2011. [ bib | .pdf ] |
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Large Scale Graph-based SLAM using Aerial Images as Prior Information. Journal of Autonomous Robots, 30(1):25--39, 2011. [ bib | DOI | .pdf ] |
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Efficient Information-Theoretic Graph Pruning for Graph-Based SLAM with Laser Range Finders. In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 865--871, San Francisco, CA, USA, 2011. [ bib | DOI | .pdf ] |
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Accurate Human Motion Capture in Large Areas by Combining IMU- and Laser-Based People Tracking. In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 86--91, San Francisco, CA, USA, 2011. [ bib | DOI | .pdf ] |
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Pose Graph Compression for Laser-Based SLAM. In Proc. of the International Symposium of Robotics Research (ISRR), Flagstaff, AZ, USA, 2011. Invited presentation. [ bib | .pdf ] |
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2010
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Coordinated Exploration with Marsupial Teams of Robots using Temporal Symbolic Planning. In Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), Taipei, Taiwan, October 2010. [ bib | DOI | .pdf ] |
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Unsupervised Learning of Compact 3D Models Based on the Detection of Recurrent Structures. In Proc. of the Int. Conf. on Intelligent Robots and Systems (IROS), Taipei, Taiwan, October 2010. [ bib | DOI | .pdf ] |
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Consistent Mapping of Multistory Buildings by Introducing Global Constraints to Graph-based SLAM. In Proc. of the IEEE Int. Conf. on Robotics & Automation (ICRA), Anchorage, Alaska, May 2010. [ bib | DOI | .pdf ] |
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Hierarchical Optimization on Manifolds for Online 2D and 3D Mapping. In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), Anchorage, AK, USA, May 2010. [ bib | DOI | .pdf ] |
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Searching for Objects: Combining Multiple Cues To Object Locations Using a Maximum Entropy Model. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pages 723--728, Anchorage, AK, USA, May 2010. [ bib | DOI | .pdf ] |
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Robust Place Recognition for 3D Range Data based on Point Features. In Proc. of the IEEE Int. Conf. on Robotics & Automation (ICRA), 2010. [ bib | DOI | .pdf ] |
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Vision-based Detection for Learning Articulation Models of Cabinet Doors and Drawers in Household Environments. In Proc. of the IEEE Int. Conf. on Robotics & Automation (ICRA), Anchorage, Alaska, 2010. [ bib | DOI | .pdf ] |
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A Nonparametric Learning Approach to Range Sensing from Omnidirectional Vision. Robotics and Autonomous Systems, 58:762--772, 2010. [ bib ] |
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Learning Deformable Object Models for Mobile Robot Path Planning using Depth Cameras and a Manipulation Robot. In Proc. of the Workshop RGB-D: Advanced Reasoning with Depth Cameras at Robotics: Science and Systems (RSS), Zaragoza, Spain, 2010. [ bib | .pdf ] |
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3D Pose Estimation, Tracking and Model Learning of Articulated Objects from Dense Depth Video using Projected Texture Stereo. In Proc. of the Workshop RGB-D: Advanced Reasoning with Depth Cameras at Robotics: Science and Systems (RSS), Zaragoza, Spain, 2010. [ bib | .pdf ] |
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Learning Adaptive Navigation Strategies for Resource-Constrained Systems. In Proc. of the Int. Workshop on Evolutionary and Reinforcement Learning for Autonomous Robot Systems, Lisbon, Portugal, 2010. [ bib | .pdf ] |
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Learning the Elasticity Parameters of Deformable Objects with a Manipulation Robot. In Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), Taipei, Taiwan, 2010. [ bib | DOI | .pdf ] |
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Robustly Operating Articulated Objects based on Experience. In Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), Taipei, Taiwan, 2010. [ bib | DOI | .pdf ] |
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Modeling the World Around Us: An Efficient 3D Representation for Personal Robotics. In Workshop on Defining and Solving Realistic Perception Problems in Personal Robotics at the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Taipei, Taiwan, 2010. [ bib ] |
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2009
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Robust On-line Model-based Object Detection from Range Images. In Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), St. Louis, MO, USA, October 2009. [ bib | DOI | .pdf ] |
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Kinodynamic Motion Planning for Mobile Robots Using Splines. In IEEE Intl. Conf. on Intelligent Robots and Systems (IROS), St. Louis, MO, USA, October 2009. [ bib | DOI | .pdf ] |
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A Comparison of SLAM Algorithms Based on a Graph of Relations. In Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), St. Louis, MO, USA, October 2009. [ bib | DOI | .pdf ] |
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Improving Robot Navigation in Structured Outdoor Environments by Identifying Vegetation from Laser Data. In Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), St. Louis, MO, USA, October 2009. [ bib | DOI | .pdf ] |
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Learning Wayfinding Heuristics Based on Local Information of Object Maps. In Proceedings of the European Conference on Mobile Robots (ECMR), pages 117--122, Mlini/Dubrovnik, Croatia, September 2009. [ bib | .pdf ] |
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A Probabilistic Sonar Sensor Model for Robust Localization of a Small-size Blimp in Indoor Environments using a Particle Filter. In Proceedings of the IEEE International Conference on Robotics & Automation (ICRA), pages 3589--3594, Kobe, Japan, May 2009. [ bib | .pdf ] |
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Modeling RFID Signal Strength and Tag Detection for Localization and Mapping. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pages 3160--3165, Kobe, Japan, May 2009. to appear. [ bib | DOI | .pdf ] |
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Look-ahead Proposals for Robust Grid-based SLAM with Rao-Blackwellized Particle Filters. In International Journal of Robotics Research (IJRR), pages 191--200, February 2009. [ bib | .pdf ] |
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Learning Kinematics from Direct Self- Observation Using Nearest-Neighbor Methods. In Proc. of the German Workshop on Robotics, 2009. [ bib | .pdf ] |
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Tracking Groups of People with a Multi-Model Hypothesis Tracker. In International Conference on Robotics and Automation (ICRA), Kobe, Japan, 2009. [ bib | DOI | .pdf ] |
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On Measuring the Accuracy of SLAM Algorithms. Journal of Autonomous Robots, 27(4):387--407, 2009. [ bib | DOI | .pdf ] |
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Towards a Navigation System for Autonomous Indoor Flying. In Proc. IEEE International Conference on Robotics and Automation (ICRA), Kobe, Japan, 2009. [ bib | DOI | .pdf ] |
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Utilizing Reflection Properties of Surfaces to Improve Mobile Robot Localization. In Proc. of the IEEE International Conference on Robotics & Automation (ICRA), Kobe, Japan, 2009. [ bib | DOI | .pdf ] |
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Learning Efficient Policies for Vision-based Navigation. In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2009. [ bib | DOI | .pdf ] |
2008
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Gaussian Processes for Flexible Robot Learning. PhD thesis, University of Freiburg, Department of Computer Science, December 2008. [ bib | .pdf ] |
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Semantic Place Labeling with Mobile Robots. PhD thesis, University of Freiburg, Freiburg, Germany, July 2008. [ bib | .pdf ] |
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Optimizing Schedules for Prioritized Path Planning of Multi-Robot Systems. In Proc. of the IEEE International Conference on Robotics & Automation (ICRA), 2001. [ bib | DOI | .pdf ] |
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Integrated Plan-based Control of Autonomous Service Robots in Human Environments. IEEE Intelligent Systems, 16, 2001. [ bib | .pdf ] |
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A Probabilistic Method for Planning Collision- free Trajectories of Multiple Mobile Robots. In Proc. of the Workshop “Service Robotics - Applications and Safety Issues in an Emerging Market” at the 14th European Conference on Artificial Intelligence (ECAI), 2000. [ bib | .pdf ] |
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Coordinating the Motions of Multiple Mobile Robots Using a Probabilistic Model. In Proc. of the 8th International Symposium on Intelligent Robotic Systems (SIRS), 2000. [ bib | .pdf ] |
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An Experimental Comparison of Path Planning Techniques for Teams of Mobile Robots. In Proc. of the Fachgespräche Autonome Mobile Systeme (AMS), 2000. [ bib | .pdf ] |
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Probabilistic Algorithms and the Interactive Museum Tour-Guide Robot Minerva. International Journal of Robotics Research (IJRR), 19(11):972--999, 2000. [ bib | .pdf ] |
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