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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., 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., N. Vaskevicius, A. Birk, and K. Pathak, "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. 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.
Pfingsthorn, M., Y. Nevatia, T. Stoyanov, R. Rathnam, S. Markov, and A. Birk, "Towards Collaborative and Decentralized Mapping in the Jacobs Virtual Rescue Team", RoboCup 2008: Robot WorldCup XII, Lecture Notes in Artificial Intelligence (LNAI), vol. 5399: Springer, pp. 225-234, 2009.
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, N. Vaskevicius, and K. Pathak, "Cooperative 3D Mapping under Underwater Communication Constraints", IEEE Oceans, 2011.
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.
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)
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, and N. Vaskevicius, "Semantic Annotation of Ground and Vegetation Types in 3D Maps for Autonomous Underwater Vehicle Operation", IEEE Oceans, 2011.
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 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.
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", IEEE 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, "Efficiently Communicating Map Updates with the Pose Graph", IEEE International Conference on Intelligent Robots and Systems (IROS), 2008.
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.
Pathak, K., A. Birk, S. Schwertfeger, and J. Poppinga, "3D Forward Sensor Modeling and Application to Occupancy Grid Based Sensor Fusion", IEEE International Conference on Intelligent Robots and Systems (IROS): IEEE Press, pp. 2059 - 2064, 2007. PDF icon IROS07_3D-RangeSensorFusion.pdf (462.13 KB)
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.
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", IEEE International Conference on Intelligent Robots and Systems (IROS), pp. 5725 - 5730, 2010.
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", IEEE International Workshop on Safety, Security, and Rescue Robotics (SSRR): IEEE Press, 2007.
Pathak, K., N. Vaskevicius, and A. Birk, "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. PDF icon ICRA09-PlaneUncertainty.pdf (1.62 MB)
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)
Pathak, K., A. Birk, and J. Poppinga, "Subpixel Depth Accuracy with a Time of Flight Sensor using Multimodal Gaussian Analysis", IEEE International Conference on Intelligent Robots and Systems (IROS): IEEE Press, 2008. PDF icon IROS08_SubpixelRange.pdf (1.15 MB)
Pathak, K., M. Pfingsthorn, N. Vaskevicius, and A. Birk, "Relaxing Loop-Closing Errors in 3D Maps Based on Planar Surface Patches", IEEE International Conference on Advanced Robotics, Munich, Germany, June, 2009.
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., 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.

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