Search Results - "Pfingsthorn, M."
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Fast 3D mapping by matching planes extracted from range sensor point-clouds
Published in 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (01-10-2009)“…This article addresses fast 3D mapping by a mobile robot in a predominantly planar environment. It is based on a novel pose registration algorithm based…”
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An efficient strategy for data exchange in multi-robot mapping under underwater communication constraints
Published in 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (01-10-2010)“…The online generation of underwater image maps or mosaicking is of high interest for underwater robots, e.g., for autonomous navigation, exploration, or object…”
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Efficiently communicating map updates with the pose graph
Published in 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems (01-09-2008)“…Robot mapping is a task that can benefit a lot from cooperative multi-robot systems. In multi-robot simultaneous localization and mapping (SLAM), it becomes…”
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Conference Proceeding -
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Semantic annotation of ground and vegetation types in 3D maps for autonomous underwater vehicle operation
Published in OCEANS'11 MTS/IEEE KONA (01-09-2011)“…The semantic annotation of 3D maps generated by an Autonomous Underwater Vehicle (AUV) is presented. Two different methods are used for this purpose. First, a…”
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Conference Proceeding -
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Cooperative 3D mapping under underwater communication constraints
Published in OCEANS'11 MTS/IEEE KONA (01-09-2011)“…Marine robots are so far mainly restricted to usage in open sea application where 2D maps are sufficient, however, full 3D information becomes more and more…”
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Augmented autonomy: Improving human-robot team performance in Urban search and rescue
Published in 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems (01-09-2008)“…Exploration of unknown environments remains one of the fundamental problems of mobile robotics. It is also a prime example for a task that can benefit…”
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Conference Proceeding -
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Uncertainty estimation for a 6-DoF spectral registration method as basis for sonar-based underwater 3D SLAM
Published in 2012 IEEE International Conference on Robotics and Automation (01-05-2012)“…An uncertainty estimation method for 6 degree of freedom (6-DoF) spectral registration is introduced here. The underlying 6-DoF registration method based on…”
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Advances in underwater mapping and their application potential for Safety, Security, and Rescue Robotics (SSRR)
Published in 2012 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) (01-11-2012)“…We give here a short overview of recent contributions of the Jacobs Robotics group in underwater mapping. This work reaches up to 3D mapping of complex…”
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Incorporating large scale SSRR scenarios into the high fidelity simulator USARSim
Published in 2009 IEEE International Workshop on Safety, Security & Rescue Robotics (SSRR 2009) (01-11-2009)“…The Unified System for Automation and Robot Simulation is a very popular robot simulator based on the commercial Unreal game engine by Epic Games. Tools…”
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Relaxing loop-closing errors in 3D maps based on planar surface patches
Published in 2009 International Conference on Advanced Robotics (01-06-2009)“…3D mapping using large planar patches results in a compact and easily understandable representation of the environment as compared to point-cloud or voxel…”
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Reconnaissance and camp security missions with an Unmanned Aerial Vehicle (UAV) at the 2009 European Land Robots Trials (ELROB)
Published in 2009 IEEE International Workshop on Safety, Security & Rescue Robotics (SSRR 2009) (01-11-2009)“…Results from two response missions at the 2009 European Land Robot Trials (ELROB) are presented. An unmanned aerial vehicle (UAV) in form of an Airrobot…”
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Extraction of Semantic Floor Plans from 3D Point Cloud Maps
Published in 2007 IEEE International Workshop on Safety, Security and Rescue Robotics (01-09-2007)“…3D mapping is increasingly important for mobile robotics in general and for safety, security and rescue robotics (SSRR) in particular as complex environments…”
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Optimized Octtree Datastructure and Access Methods for 3D Mapping
Published in 2007 IEEE International Workshop on Safety, Security and Rescue Robotics (01-09-2007)“…3D maps are becoming increasingly important for robots operating in real world scenarios. As occupancy grids are a popular standard in 2D mapping, it is a…”
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Towards Object Classification Using 3D Sensor Data
Published in 2008 ECSIS Symposium on Learning and Adaptive Behaviors for Robotic Systems (LAB-RS) (01-08-2008)“…This paper presents an approach to classify objects using 3D sensor data and an evolutionary algorithm. An important by-product of this classification is, that…”
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