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2017
Luczynski, T., M. Pfingsthorn, and A. Birk, "The Pinax-model for accurate and efficient refraction correction of underwater cameras in flat-pane housings", Ocean Engineering, vol. 133, pp. 9 - 22, 2017.
2016
Gomez Chavez, A., J. Fontes, P. Afonso, M. Pfingsthorn, and A. Birk, "Automated Species Counting using a Hierarchical Classification Approach with Haar Cascades and Multi-Descriptor Random Forests", IEEE Oceans, 2016. PDF icon AutomatedUnderwaterSpeciesCounting-Oceans16.pdf (2.35 MB)
Gancet, J., P. Weiss, G. Antonelli, M. Pfingsthorn, S. Calinon, A. Turetta, C. Walen, D. Urbina, S. Govindaraj, P. Letier, et al., "Dexterous Undersea Interventions with Far Distance Onshore Supervision: the DexROV Project", IFAC Conference on Control Applications in Marine Systems, 2016.
Pfingsthorn, M., R. Rathnam, T. Luczynski, and A. Birk, "Full 3D Navigation Correction using Low Frequency Visual Tracking with a Stereo Camera", IEEE Oceans, 2016. PDF icon UNDERWATER_oceans16shanghai_visualodometry.pdf (1.44 MB)
Pfingsthorn, M., and A. Birk, "Generalized Graph SLAM: Solving Local and Global Ambiguities through Multimodal and Hyperedge Constraints", International Journal of Robotics Research (IJRR), vol. 35, issue 6, 2016.
Gomez Chavez, A., M. Pfingsthorn, R. Rathnam, and A. Birk, "Visual Speed Adaptation for Improved Sensor Coverage in a Multi-Vehicle Survey Mission", IEEE Oceans, 2016. PDF icon TerrainComplexity-SpeedAdaptation-Oceans16.pdf (2.99 MB)
2015
Gancet, J., D. Urbina, P. Letier, M.. Ilzkovitz, A. Birk, M. Pfingsthorn, P. Weiss, F.. Gauch, B. Chemisky, S. Calinon, et al., "DexROV: Enabling Effective Dexterous ROV Operations in Presence of Communication Latency", IEEE Oceans, 2015.
Enchev, I., M. Pfingsthorn, T. Luczynski, I. Sokolovski, A. Birk, and D. Tietjen, "Underwater Place Recognition in Noisy Stereo Data using Fab-Map with a Multimodal Vocabulary from 2D Texture and 3D Surface Descriptors", IEEE Oceans, 2015.
Gomez Chavez, A., M. Pfingsthorn, A. Birk, I. Rendulic, and N. Miskovic, "Visual Diver Detection using Multi-Descriptor Nearest-Class-Mean Random Forests in the Context of Underwater Human Robot Interaction (HRI)", IEEE Oceans, 2015.
2014
Pfingsthorn, M., A. Birk, F. Ferreira, G. Veruggio, M. Caccia, and G. Bruzzone, "Large-Scale Image Mosaicking using Multimodal Hyperedge Constraints from Multiple Registration Methods within the Generalized Graph SLAM Framework", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2014.
Pfingsthorn, M., and A. Birk, "Representing and Solving Local and Global Ambiguities as Multimodal and Hyperedge Constraints in a Generalized Graph SLAM Framework", IEEE International Conference on Robotics and Automation (ICRA): IEEE Press, 2014.
2013
Pfingsthorn, M., H. Bülow, A. Birk, F. Ferreira, G.. Veruggio, M. Caccia, and G.. Bruzzone, "Large-Scale Mosaicking with Spectral Registration based Simultaneous Localization and Mapping (iFMI-SLAM) in the Ligurian Sea", IEEE Oceans: IEEE Press, 2013.
Pathak, K., M. Pfingsthorn, H. Bülow, and A. Birk, "Robust Estimation of Camera-Tilt for iFMI based Photo-Mapping using a Calibrated Monocular Camera", IEEE International Conference on Robotics and Automation (ICRA): IEEE Press, 2013.
Pfingsthorn, M., and A. Birk, "Simultaneous Localization and Mapping (SLAM) with Multimodal Probability Distributions", International Journal of Robotics Research (IJRR), vol. 32, issue 2, pp. 143-171, 2013.
Pfingsthorn, M., H. Bülow, I. Sokolovski, and A. Birk, "Underwater Stereo Data Acquisition and 3D Registration with a Spectral Method", IEEE Oceans: IEEE Press, 2013.
2012
Birk, A., M. Pfingsthorn, and H. Bülow, "Advances in Underwater Mapping and their Application Potential for Safety, Security, and Rescue Robotics (SSRR)", IEEE International Symposium on Safety, Security, Rescue Robotics (SSRR): IEEE Press, 2012.
Pfingsthorn, M., A. Birk, and H. Bülow, "Uncertainty Estimation for a 6-DoF Spectral Registration method as basis for Sonar-based Underwater 3D SLAM", Robotics and Automation, 2012. Proceedings. ICRA '12. IEEE International Conference on: IEEE Press, 2012.
2011
Pfingsthorn, M., A. Birk, N. Vaskevicius, and K. Pathak, "Cooperative 3D Mapping under Underwater Communication Constraints", IEEE Oceans, 2011.
Birk, A., B. Wiggerich, H. Bülow, M. Pfingsthorn, and S. Schwertfeger, "Safety, Security, and Rescue Missions with an Unmanned Aerial Vehicle (UAV): Aerial Mosaicking and Autonomous Flight at the 2009 European Land Robots Trials (ELROB) and the 2010 Response Robot Evaluation Exercises (RREE)", Journal of Intelligent and Robotic Systems, vol. 64, no. 1, pp. 57-76, 2011.
Pfingsthorn, M., A. Birk, and N. Vaskevicius, "Semantic Annotation of Ground and Vegetation Types in 3D Maps for Autonomous Underwater Vehicle Operation", IEEE Oceans, 2011.
2010
Pfingsthorn, M., A. Birk, and H. Bülow, "An Efficient Strategy for Data Exchange in Multi-Robot Mapping under Underwater Communication Constraints", International Conference on Intelligent Robots and Systems (IROS), pp. 4886 - 4893, 2010. PDF icon IROS2010_multirobot_imageslam.pdf (695.38 KB)
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.
Bülow, H., M. Pfingsthorn, and A. Birk, "Using Robust Spectral Registration for Scan Matching of Sonar Range Data", 7th Symposium on Intelligent Autonomous Vehicles (IAV), IFAC: IFAC, 2010.
2009
Varsadan, I., A. Birk, and M. Pfingsthorn, "Determining Map Quality through an Image Similarity Metric", RoboCup 2008: Robot WorldCup XII, Lecture Notes in Artificial Intelligence (LNAI): Springer, pp. 355-365, 2009.
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.
Rathnam, R., M. Pfingsthorn, and A. Birk, "Incorporating large scale SSRR Scenarios into the High Fidelity Simulator USARSim", IEEE International Workshop on Safety, Security, and Rescue Robotics (SSRR): IEEE Press, pp. 1-6, 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.
Pathak, K., M. Pfingsthorn, N. Vaskevicius, and A. Birk, "Relaxing Loop-Closing Errors in 3D Maps Based on Planar Surface Patches", International Conference on Advanced Robotics, Munich, Germany, June, 2009.

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