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2013
Schwertfeger, S., and A. Birk, "Evaluation of Map Quality by Matching and Scoring High-Level, Topological Map Structures", IEEE International Conference on Robotics and Automation (ICRA): IEEE Press, 2013.
2012
Schwertfeger, S., Robotic Mapping in the Real World: Performance Evaluation and System Integration, : Jacobs University Bremen, 2012.
Schwertfeger, S., and A. Birk, "A Short Overview of Recent Advances in Map Evaluation", IEEE International Symposium on Safety, Security, Rescue Robotics (SSRR): IEEE Press, 2012.
Jacoff, A., R. Sheh, A-M. Virts, T. Kimura, J. Pellenz, S. Schwertfeger, and J. Suthakorn, "Using competitions to advance the development of standard test methods for response robots", Proceedings of the Workshop on Performance Metrics for Intelligent Systems: ACM, 2012.
2010
Schwertfeger, S., H. Bülow, and A. Birk, "On the effects of Sampling Resolution in Improved Fourier Mellin based Registration for Underwater Mapping", 7th Symposium on Intelligent Autonomous Vehicles (IAV), IFAC: IFAC, 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)
Schwertfeger, S., A. Jacoff, C. Scrapper, J. Pellenz, and A. Kleiner, "Evaluation of Maps using Fixed Shapes: The Fiducial Map Metric", Proceedings of PerMIS, 2010.
Pfingsthorn, M., A. Birk, S. Schwertfeger, H. Bülow, and K. Pathak, "Maximum Likelihood Mapping with Spectral Image Registration", Robotics and Automation, 2010. ICRA 2010. Proceedings of the 2010 IEEE International Conference on, 2010. PDF icon ICRA10_fmi_uncertainty.pdf (449 KB)
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)
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.
2009
Birk, A., S. Schwertfeger, and K. Pathak, "3D Data Collection at Disaster City at the 2008 NIST Response Robot Evaluation Exercise (RREE)", IEEE International Workshop on Safety, Security, and Rescue Robotics (SSRR): IEEE Press, 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.
Birk, A., S. Schwertfeger, and K. Pathak, "A Networking Framework for Teleoperation in Safety, Security, and Rescue Robotics (SSRR)", IEEE Wireless Communications, Special Issue on Wireless Communications in Networked Robotics, vol. 6, no. 13, pp. 6-13, 2009.
Birk, A., B. Wiggerich, H. Bülow, M. Pfingsthorn, and S. Schwertfeger, "Reconnaissance and Camp Security Missions with an Unmanned Aerial Vehicle (UAV) at the 2009 European Land Robots Trials (ELROB)", IEEE International Workshop on Safety, Security, and Rescue Robotics (SSRR): IEEE Press, 2009.
2008
Varsadan, I., A. Birk, M. Pfingsthorn, S. Schwertfeger, and K. Pathak, "The Jacobs map analysis toolkit", Workshop on experimental methodology and benchmarking in robotics research (RSS 2008), 2008.
Schwertfeger, S., J. Poppinga, and A. Birk, "Towards Object Classification using 3D Sensor Data", ECSIS Symposium on Learning and Adaptive Behaviors for Robotic Systems (LAB-RS): IEEE, 2008.
2007
Pathak, K., A. Birk, S. Schwertfeger, and J. Poppinga, "3D Forward Sensor Modeling and Application to Occupancy Grid Based Sensor Fusion", International Conference on Intelligent Robots and Systems (IROS): IEEE Press, pp. 2059 - 2064, 2007. PDF icon IROS07_3D-RangeSensorFusion.pdf (462.13 KB)
Albu, D., A. Birk, P. Dobrev, F. Gammoh, A. Giurgiu, S-C. Mihut, B. Minzu, R. Pascanu, S. Schwertfeger, A. Stan, et al., "Fast Prototyping of an Autonomous Underwater Vehicle (AUV) with the CubeSystem", 6th International Symposium on Intelligent Autonomous Vehicles (IAV 2007): IFAC, 2007.
Pathak, K., A. Birk, S. Schwertfeger, I. Delchev, and S. Markov, "Fully Autonomous Operations of a Jacobs Rugbot in the RoboCup Rescue Robot League 2006", International Workshop on Safety, Security, and Rescue Robotics (SSRR): IEEE Press, 2007.
Birk, A., K. Pathak, J. Poppinga, S. Schwertfeger, and W. Chonnaparamutt, "Intelligent Behaviors in Outdoor Environments", 13th International Conference on Robotics and Applications, Special Session on Outdoor Robotics - Taking Robots off road: IASTED, 2007.
Birk, A., K. Pathak, J. Poppinga, S. Schwertfeger, M. Pfingsthorn, and H. Bülow, "The Jacobs Test Arena for Safety, Security, and Rescue Robotics (SSRR)", WS on Performance Evaluation and Benchmarking for Intelligent Robots and Systems, Intern. Conf. on Intelligent Robots and Systems (IROS): IEEE Press, 2007.
Poppinga, J., M. Pfingsthorn, S. Schwertfeger, K. Pathak, and A. Birk, "Optimized Octtree Datastructure and Access Methods for 3D Mapping", IEEE Safety, Security, and Rescue Robotics (SSRR): IEEE Press, 2007.
2006
Birk, A., K. Pathak, S. Schwertfeger, and W. Chonnaparamutt, "The IUB Rugbot: an intelligent, rugged mobile robot for search and rescue operations", IEEE International Workshop on Safety, Security, and Rescue Robotics (SSRR): IEEE Press, 2006. PDF icon SSRR2006_Rugbot.pdf (1.14 MB)