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Publications

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Author [ Year(Asc)]
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.
Birk, A., and F. Matsunoa, "Special Issue: Safety, Security, and Rescue Robotics", Journal of Field Robotics, vol. 28, issue 6: Wiley, 12/2011.
Bülow, H., and A. Birk, "Spectral Registration of Noisy Sonar Data for Underwater 3D Mapping", Autonomous Robots, vol. 30, no. 3, pp. 307-331, 2011.
Bülow, H., and A. Birk, "Spectral Registration of Volume Data for 6-DOF Spatial Transformations plus Scale", Proc. of the 2011 IEEE Intl. Conf. on Robotics and Automation (ICRA), 2011.
Vaskevicius, N., and A. Birk, "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.
Schwertfeger, S., A. Jacoff, J. Pellenz, and A. Birk, "Using a Fiducial Map Metric for Assessing Map Quality in the context of RoboCup Rescue", IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR): IEEE Press, pp. 1-6, 2011.
Schwertfeger, S., A. Birk, and H. Bülow, "Using iFMI Spectral Registration for Video Stabilization and Motion Detection by an Unmanned Aerial Vehicle (UAV)", IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR): IEEE Press, pp. 1-6, 2011.
2010
Poppinga, J., A. Birk, and K. Pathak, "A Characterization of 3D Sensors for Response Robots", RoboCup 2009: Robot WorldCup XIII, vol. 5949: Springer, pp. 264-275, 2010.
Indiveri, G., G. Antonelli, A. Caiti, G. Casalino, A. Birk, A. Pascoal, and A. Caffaz, "The CO3-AUVs (Cooperative Cognitive Control for Autonomous Underwater Vehicles) Project: overview and current progresses", 7th Symposium on Intelligent Autonomous Vehicles (IAV), IFAC: IFAC, 2010.
Birk, A., G. Antonelli, A. Pascoal, and A. Caffaz, "Cognitive Cooperative Control for Autonomous Underwater Vehicles: An overview of achievements in the first project year", 9th International Conference on Computer Applications and Information Technology in the Maritime Industries (COMPIT), Gubbio, Italy, 2010. PDF icon Compit2010-Co3AUVs-web.pdf (2.96 MB)
Bülow, H., A. Birk, and S. Feyzabadi, "Creating Photo Maps with an Aerial Vehicle in USARsim", RoboCup 2009: Robot WorldCup XIII, vol. 5949: Springer, pp. 35-45, 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)
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)
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.
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)
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)
Sehgal, A., D. Cernea, and A. Birk, "Modeling Underwater Acoustic Communications for Multi-Robot Missions in a Robotics Simulator", IEEE Oceans: IEEE Press, 2010.
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., "A Quantitative Assessment of Structural Errors in Grid Maps", Autonomous Robots, vol. 28, pp. 187-196, 2010. PDF icon MapBrokenness-ARJ09-web.pdf (301.11 KB)
Birk, A., Simultaneous Localization and Mapping (SLAM) is NP-Complete, , 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)
Birk, A., "Using Recursive Spectral Registrations to Determine Brokenness as Measure of Structural Map Errors", IEEE International Conference on Robotics and Automation (ICRA): IEEE, 2010. PDF icon MapBrokenness-ICRA10-web.pdf (451.4 KB)
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
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.

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