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Vaskevicius, N., K. Pathak, A-E. Ichim, and A. Birk, "The Jacobs Robotics Approach to Object Recognition and Localization in the Context of the ICRA'11 Solutions in Perception Challenge", IEEE Conf. on Robotics and Automation, St. Paul, MN, USA, May, 2012.
Pathak, K., N. Vaskevicius, F. Bungiu, and A. Birk, "Utilizing Color Information in 3D Scan-Registration using Planar-Patches Matching", IEEE International Conference on Multisensor Fusion and Information Integration (MFI): IEEE Press, 2012.
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", 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", 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)
Poppinga, J., N. Vaskevicius, A. Birk, and K. Pathak, "Fast Plane Detection and Polygonalization in noisy 3D Range Images", International Conference on Intelligent Robots and Systems (IROS): IEEE Press, pp. 3378 - 3383, 2008. PDF icon IROS08_FastSurfaceExtraction.pdf (1.04 MB)
Vaskevicius, N., A. Birk, K. Pathak, and J. Poppinga, "Fast Detection of Polygons in 3D Point Clouds from Noise-Prone Range Sensors", International Workshop on Safety, Security, and Rescue Robotics (SSRR): IEEE Press, 2007.