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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.
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.
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.
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., 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., 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., 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., 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.
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)
Poppinga, J., A. Birk, K. Pathak, and N. Vaskevicius, "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.
Poppinga, J., A. Birk, and K. Pathak, "Hough based Terrain Classification for Realtime Detection of Drivable Ground", Journal of Field Robotics, vol. 25, no. 1-2, pp. 67-88, 2008. PDF icon JFR-TerrainClassification-web.pdf (3.04 MB)
Poppinga, J., N. Vaskevicius, K. Pathak, and A. Birk, Plane Matching using Swiss-Ranger and comparison to ICP, , 2009.
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.
Poppinga, J., A. Birk, and K. Pathak, Robot Sensor and Command Stream Recordings from RoboCup German Open 2007, : Jacobs University Bremen, 2007.
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)
Poppinga, J., and A. Birk, "A Novel Approach to Wrap Around Error Correction for a Time-Of-Flight 3D Camera", RoboCup 2008: Robot WorldCup XII, Lecture Notes in Artificial Intelligence (LNAI), vol. 5399: Springer, pp. 247-258, 2009.
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.
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Rathnam, R., and A. Birk, "Distributed Communicative Exploration under Underwater Communication Constraints", Safety, Security, and Rescue Robotics (SSRR), 2011 IEEE International Symposium on, pp. 339 -344, nov., 2011.
Rathnam, R., and A. Birk, "Initial Results of Cooperative AUV Exploration in a High-Fidelity Simulation using Real-World Data from Monte da Guia, Azores", IEEE Oceans: IEEE Press, 2013.
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.
Rathnam, R., and A. Birk, "Multi-Robot Exploration with AUVs on Cliffs and other 3D Structures with a Predominant Orientation", IEEE Oceans, 2015.
Rathnam, R., and A. Birk, "Cooperative 3D Exploration under Communication Constraints, ", IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles (NGCUV), Porto, Portugal, IFAC, 2012.
Rooker, M., and A. Birk, "Communicative Exploration in Dangerous Environments", Second International Workshop on Advances in Service Robotics ({ASER}'04), 2004.
Rooker, M., and A. Birk, "Communicative Exploration with Robot Packs", {RoboCup} 2005: Robot Soccer World Cup IX, vol. 4020: Springer, pp. 267 - 278, 2006. PDF icon ExploringRobotPacks.pdf (519.04 KB)
Rooker, M., and A. Birk, "Multi-robot exploration under the constraints of wireless networking", Control Engineering Practice, vol. 15, no. 4, pp. 435-445, 2007. PDF icon CEP07-CommExplore-RookerBirk.pdf (2.34 MB)
Rooker, M., and A. Birk, "Combining Exploration and Ad-Hoc Networking in RoboCup Rescue", RoboCup 2004: Robot Soccer World Cup VIII: Springer-Verlag GmbH, 2005. PDF icon RoboCup2004_CommExplore.pdf (866.95 KB)
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Sakenas, V., O. Kosuchinas, M. Pfingsthorn, and A. Birk, "Extraction of Semantic Floor Plans from 3D Point Cloud Maps", International Workshop on Safety, Security, and Rescue Robotics (SSRR): IEEE Press, 2007.
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.
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.
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.

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