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2010
Vaskevicius, N., A. Birk, K. Pathak, and S. Schwertfeger, "Efficient Representation in 3D Environment Modeling for Planetary Robotic Exploration", Advanced Robotics, vol. 24, no. 8-9, pp. 1169–1197, 2010. PDF icon ARJ09_Planes_web.pdf (4.05 MB)
Pathak, K., D. Borrmann, J. Elseberg, N. Vaskevicius, A. Birk, and A. Nüchter, "Evaluation of the Robustness of Planar-Patches based 3D-Registration using Marker-based Ground-Truth in an Outdoor Urban Scenario", IEEE International Conference on Intelligent Robots and Systems (IROS), pp. 5725 - 5730, 2010.
Vaskevicius, N., K. Pathak, R. Pascanu, and A. Birk, "Extraction of Quadrics From Noisy Point-Clouds Using a Sensor Noise Model", IEEE International Conference on Robotics and Automation (ICRA): IEEE Press, 2010.
Pathak, K., A. Birk, N. Vaskevicius, and J. Poppinga, "Fast Registration Based on Noisy Planes with Unknown Correspondences for 3D Mapping", IEEE Transactions on Robotics, vol. 26, no. 3, pp. 424-441, 2010. PDF icon IEEE-TRO-PlaneMatching.pdf (4.58 MB)
Pathak, K., A. Birk, N. Vaskevicius, M. Pfingsthorn, S. Schwertfeger, and J. Poppinga, "Online 3D SLAM by Registration of Large Planar Surface Segments and Closed Form Pose-Graph Relaxation", Journal of Field Robotics, Special Issue on 3D Mapping, vol. 27, no. 1, pp. 52-84, 2010. PDF icon JFR-3D-PlaneSLAM.pdf (32.19 MB)
Pathak, K., A. Birk, and N. Vaskevicius, "Plane-Based Registration of Sonar Data for Underwater 3D Mapping", IEEE International Conference on Intelligent Robots and Systems (IROS), pp. 4880 - 4885, 2010.
Birk, A., K. Pathak, N. Vaskevicius, M. Pfingsthorn, J. Poppinga, and S. Schwertfeger, "Surface Representations for 3D Mapping: A Case for a Paradigm Shift", KI - Kuenstliche Intelligenz, vol. 24, no. 3, pp. 249-254, 2010.
Pathak, K., N. Vaskevicius, and A. Birk, "Uncertainty Analysis for Optimum Plane Extraction from Noisy 3D Range-Sensor Point-Clouds", Intelligent Service Robotics, vol. 3, no. 1, pp. 37–48, 2010. PDF icon JISR09_PlaneErrorAnalysis_web.pdf (1.43 MB)
2009
Birk, A., N. Vaskevicius, K. Pathak, S. Schwertfeger, J. Poppinga, and H. Bülow, "3D Perception and Modeling: Motion Level Teleoperation and Intelligent Autonomous Functions", IEEE Robotics and Automation Magazine (RAM), vol. 6, no. 4, pp. 53-60, 2009. PDF icon SPACE-RAM09-web.pdf (1.86 MB)
Pathak, K., N. Vaskevicius, J. Poppinga, M. Pfingsthorn, S. Schwertfeger, and A. Birk, "Fast 3D Mapping by Matching Planes Extracted from Range Sensor Point-Clouds", Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on, 2009.
Pathak, K., M. Pfingsthorn, N. Vaskevicius, and A. Birk, "Relaxing Loop-Closing Errors in 3D Maps Based on Planar Surface Patches", IEEE International Conference on Advanced Robotics, Munich, Germany, June, 2009.
Pathak, K., N. Vaskevicius, and A. Birk, "Revisiting Uncertainty Analysis for Optimum Planes Extracted from 3D Range Sensor Point-Clouds", IEEE International Conference on Robotics and Automation (ICRA), Kobe, Japan, IEEE press, pp. 1631 - 1636, May 12-17, 2009. PDF icon ICRA09-PlaneUncertainty.pdf (1.62 MB)
2008
Poppinga, J., N. Vaskevicius, A. Birk, and K. Pathak, "Fast Plane Detection and Polygonalization in noisy 3D Range Images", IEEE International Conference on Intelligent Robots and Systems (IROS): IEEE Press, pp. 3378 - 3383, 2008. PDF icon IROS08_FastSurfaceExtraction.pdf (1.04 MB)
2007
Vaskevicius, N., A. Birk, K. Pathak, and J. Poppinga, "Fast Detection of Polygons in 3D Point Clouds from Noise-Prone Range Sensors", IEEE International Workshop on Safety, Security, and Rescue Robotics (SSRR): IEEE Press, 2007.