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Publications
] , "No More Heavy Lifting: Robotic Solutions to the Container Unloading Problem", IEEE Robotics and Automation Magazine (RAM), vol. 23, issue 4, 2016.
, "Beyond Points: Evaluating Recent 3D Scan-Matching Algorithms", IEEE International Conference on Robotics and Automation (ICRA), 2015.
, "Robust 3D Object Modeling with a Low-Cost RGBD-Sensor and AR-Markers for Applications with Untrained End-Users", Robotics and Autonomous Systems (RAS), Elsevier, vol. 66, pp. 1-17, 2015.
, "Fitting Superquadrics in Noisy, Partial Views from a Low-cost RGBD Sensor for Recognition and Localization of Sacks in Autonomous Unloading of Shipping Containers", IEEE International Conference on Automation Science and Engineering (CASE), 2014.
, "Object Recognition and Localization for Robust Grasping with a Dexterous Gripper in the Context of Container Unloading", IEEE International Conference on Automation Science and Engineering (CASE), 2014.
, "Velvet Fingers: Grasp Planning and Execution for an Underactuated Gripper with Active Surfaces", IEEE International Conference on Robotics and Automation (ICRA): IEEE Press, 2014.
, "Uncertainty Estimation of AR-Marker Poses for Graph-SLAM Optimization in 3D Object Model Generation with RGBD Data", IEEE International Conference on Intelligent Robots and Systems (IROS), 2013.
, "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.
, "Utilizing Color Information in 3D Scan-Registration using Planar-Patches Matching", IEEE International Conference on Multisensor Fusion and Information Integration (MFI): IEEE Press, 2012.
, "Cooperative 3D Mapping under Underwater Communication Constraints", IEEE Oceans, 2011.
, "Fast 6-DOF Path Planning for Autonomous Underwater Vehicles (AUV) based on 3D Plane Mapping", IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR): IEEE Press, pp. 1-6, 2011.
, "Semantic Annotation of Ground and Vegetation Types in 3D Maps for Autonomous Underwater Vehicle Operation", IEEE Oceans, 2011.
, "Towards Pathplanning for Unmanned Ground Vehicles (UGV) in 3D Plane-Maps of Unstructured Environments", KI - Künstliche Intelligenz, vol. 25, no. 2, pp. 141-144, 2011.
, "Efficient Representation in 3D Environment Modeling for Planetary Robotic Exploration", Advanced Robotics, vol. 24, no. 8-9, pp. 1169–1197, 2010.
ARJ09_Planes_web.pdf (4.05 MB)
ARJ09_Planes_web.pdf (4.05 MB), "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.
, "Extraction of Quadrics From Noisy Point-Clouds Using a Sensor Noise Model", IEEE International Conference on Robotics and Automation (ICRA): IEEE Press, 2010.
, "Fast Registration Based on Noisy Planes with Unknown Correspondences for 3D Mapping", IEEE Transactions on Robotics, vol. 26, no. 3, pp. 424-441, 2010.
IEEE-TRO-PlaneMatching.pdf (4.58 MB)
IEEE-TRO-PlaneMatching.pdf (4.58 MB), "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.
JFR-3D-PlaneSLAM.pdf (32.19 MB)
JFR-3D-PlaneSLAM.pdf (32.19 MB), "Plane-Based Registration of Sonar Data for Underwater 3D Mapping", IEEE International Conference on Intelligent Robots and Systems (IROS), pp. 4880 - 4885, 2010.
, "Surface Representations for 3D Mapping: A Case for a Paradigm Shift", KI - Kuenstliche Intelligenz, vol. 24, no. 3, pp. 249-254, 2010.
, "Uncertainty Analysis for Optimum Plane Extraction from Noisy 3D Range-Sensor Point-Clouds", Intelligent Service Robotics, vol. 3, no. 1, pp. 37–48, 2010.
JISR09_PlaneErrorAnalysis_web.pdf (1.43 MB)
JISR09_PlaneErrorAnalysis_web.pdf (1.43 MB), "3D Perception and Modeling", IEEE Robotics and Automation Magazine (RAM), special issue on Space Robotics, vol. 6, no. 4, pp. 53-60, 2009.
SPACE-RAM09-Preprint.pdf (1.98 MB)
SPACE-RAM09-Preprint.pdf (1.98 MB), "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.
, "Relaxing Loop-Closing Errors in 3D Maps Based on Planar Surface Patches", IEEE International Conference on Advanced Robotics, Munich, Germany, June, 2009.
, "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.
ICRA09-PlaneUncertainty.pdf (1.62 MB)
ICRA09-PlaneUncertainty.pdf (1.62 MB), "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.
IROS08_FastSurfaceExtraction.pdf (1.04 MB)
IROS08_FastSurfaceExtraction.pdf (1.04 MB), "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.