Contact

Address

Osnabrück University
Institute of Computer Science
Hamburger Straße 24
49084 Osnabrück

Office Hours

Monday 10:00 to 13:00 or email for appointment

Phone

+49 541/969-2622

Fax

+49 541/969-2799

Interests

  • Artificial Intelligence
  • Autonomous mobile robots
  • Action planning
  • Plan-based robot control
  • Sensor data interpretation
  • Semantic mapping
  • Robotics in agriculture

Education

  • Diplom in Computer Science, 1982

    University of Bonn

  • Doctorate (Dr.rer.nat) in Computer Science, 1986

    University of Bonn

  • Habilitation in Computer Science, 1995

    Hamburg University

Publications

All Publications

2024

MICP-L: Mesh-based ICP for Robot Localization using Hardware-Accelerated Ray Casting

PDF Code Video

Mesh-based Object Tracking for Dynamic Semantic 3D Scene Graphs via Ray Tracing

PDF

2023

Rmagine: 3D Range Sensor Simulation in Polygonal Maps via Ray Tracing for Embedded Hardware on Mobile Robots

PDF Code Video

2022

Hyperspectral 3D Point Cloud Segmentation with RandLA-Net

PDF

2021

Monocular Localization in Feature-Annotated 3D Polygon Maps

PDF Video

Beleuchtungsausgleich zur Klassifikation auf hyperspektral annotierten 3D-Punkwolken

PDF Source Document

The Mesh Tools Package – Introducing Annotated 3D Triangle Maps in ROS

PDF

Continuous shortest path vector field navigation on 3d triangular meshes for mobile robots

PDF Video

2020

Overview of a route-planning tool for capacitated field processes in arable farming

PDF

Erste Schritte zu einer kontextsensitiven Navigation in einem langzeitautonomen Field-Monitoring System

PDF

Online Beleuchtungsausgleich für terrestrische Hyperspektralaufnahmen

PDF

Erzeugung und inkrementelle Erweiterung großer 3D-Karten

PDF

Towards Context-Aware Navigation for Long-Term Autonomy in Agricultural Environments

PDF

2019

Tools for Visualizing, Annotating and Storing Triangle Meshes in ROS and RViz

PDF

Compressing ROS Sensor and Geometry Messages with Draco

PDF

A File Structure and Reference Data Set for High Resolution Hyperspectral 3D Point Clouds

PDF

A spatio-semantic approach to reasoning about agricultural processes

PDF

"Digitale Zwillinge" als Werkzeug für die Entwicklung von Feldrobotern in landwirtschaftlichen Prozessen

Efficient Planning Under Uncertainty with Incremental Refinement

PDF Source Document

Planning under uncertainty through goal-driven action selection

PDF Source Document

2018

Move Base Flex: A Highly Flexible Navigation Framework for Mobile Robots

Code Project

Markerlose Kalibrierung einer einer Linienka-mera zur Erzeugung hyperspektral annotierter 3D-Punktwolken mit einem terrestrischen Laserscanner

PDF

A Spatio-Semantic Model for Agricultural Environments and Machines

PDF Source Document

Markerless Ad-hoc Calibration of a Hyperspectral Camera and a 3D Laser Scanner

PDF

Grounding Semantic Maps in Spatial Databases

PDF Source Document

Künstliche Intelligenz -- Was Maschinen (derzeit) können und was nicht

Simulation von Laserscannern in Pflanzenbeständen für die Entwicklung umfeldbasierter Funktionen

Surface Reconstruction from Arbitrarily Large Point Clouds

PDF Source Document

Erzeugung von hyperspektralen Punktwolken auf einem mobilen Roboter

PDF

Planning under uncertainty through goal-driven action selection

PDF Source Document

Towards Domain-independent Biases for Action Selection in Robotic Task-planning under Uncertainty

PDF Source Document

2017

3D-Hyperspektralpunktwolken und semantische Karten für präzise Agraranwendungen

DKG 2017

Online Context-based Object Recognition for Mobile Robots

Source Document

Architektur einer offenen Software-Plattform für landwirtschaftliche Dienstleistungen

Plant classification with In-Field-Labeling for crop/weed discrimination using spectral features and 3D surface features from a multi-wavelength laser line profile system

Source Document

Practical assumptions for planning under uncertainty

PDF Source Document

Massiv parallelisierte Oberflächenrekonstruktion aus großvolumigen und hochaufgelösten 3D-Punktwolken

PDF

Konzeptentwicklung zur automationsgestützten 3D-Digitalisierung kulturhistorisch relevanter Bauten

PDF

Model-Based Furniture Recognition for Building Semantic Object Maps

Source Document

2016

Optimizing Triangle Mesh Reconstructions of Planar Environments

Source Document

Online Mesh Optimization for Large Scale KinectFusion Meshes

Source Document

FLAP for CAOS: Forward-Looking Active Perception for Clutter-Aware Object Search

Source Document

3D Navigation Mesh Generation for Path Planning in Uneven Terrain

Source Document

Real Time Texture Generation in Optimized Large-Scale Polygon Meshes with KinectFusion

Towards a flexible hybrid planner for machine coordination in arable farming

Online-Generierung großflächiger 3D-Meshes mit Texturen durch RGB-D Kameras

Methoden zur Bestimmung optimal ergänzender Scanposen in unvollständig erfassten 3D-Szenen

Data Handling in Large Scale Surface Reconstruction.

Source Document

AI Reasoning Methods for Robotics

Source Document

2015

Online Task Merging with a Hierarchical Hybrid Task Planner for Mobile Service Robots

Source Document

Integrating Physics-Based Prediction with Semantic Plan Execution Monitoring

Source Document

Hierarchical Hybrid Planning in a Mobile Service Robot

Source Document

Abducing Hypotheses about Past Events from Observed Environment Changes

Source Document

SEMAP -- A Semantic Environment Mapping Framework

Source Document

Generating Topologically Consistent Triangle Meshes from Large Scale Kinect Fusion

Source Document

The Role of Functional Affordances in Socializing Robots.

Source Document

Planung von optimalen Scanposen zur Nach-Erfassung verschatteter Bereiche in 3D-Szenen

Technische Gestaltungsoptionen für autonom agierende Komponenten und Systeme.

An Extended Evaluation of Open Source Surface Reconstruction Software for Robotic Applications

Source Document

2014

The RACE Project -- Robustness by Autonomous Competence Enhancement

Source Document

Large Scale Surface Reconstruction

PDF

Autonomous service robots for orchards and vineyards: 3D simulation environment of multi sensor-based navigation and applications

PDF

Finding Ways to Get the Job Done: An Affordance-based Approach

PDF

Integrating Semantic Information in Navigational Planning

PDF

Generating and executing hierarchical mobile manipulation plans

PDF

Multi-wavelength laser line profile sensing for agricultural crop characterization

Source Document

Autonome Systeme in der Landwirtschaft (Erweiterte Zusammenfassung)

Source Document

ROS-Based Path Planning and Machine Control for an Autonomous Sugar Beet Harvester

Repräsentation Geometrischer und Semantischer Informationen in einem Geoinformationssystem für Mobile Roboter

2013

An Evaluation of Open Source Surface Reconstruction Software for Robotic Applications

PDF

Socializing Robots: The Role of Functional Affordances

PDF

Building Semantic Object Maps from Sparse and Noisy 3D Data

PDF

Automatic Creation and Application of Texture Patterns to 3D Polygon Maps

PDF

Affordance-Based Reasoning in Robot Task Planning

PDF

Automatic Map Creation for Environment Modelling in Robotic Simulators

PDF

Infield Path Planning for Autonomous Unloading Vehicles

PDF

Spatio-temporally Constrained Planning for Cooperative Vehicles in a Harvesting Scenario

Source Document

Kognitive Robotik

Interpreting Observed Actions (Dagstuhl Seminar 12491)

PDF

From Object Recognition to Activity Interpretation and Back, Based on Point Cloud Data

PDF

Encoding HTN Heuristics in PDDL Planning Instances (Extended Abstract)

Source Document

An Ontology-based Multi-level Robot Architecture for Learning from Experiences

PDF

2012

Hybrid Reasoning in Perception: A Case Study

Source Document

Online scheduling of flexible job-shops with blocking and transportation

PDF

A Toolkit for Automatic Generation of Polygonal Maps -- Las Vegas Reconstruction

PDF

Approximating Reference Trajectories for Autonomous Vehicles using Motion Primitives

Source Document

Mobile Roboter. Eine Einführung aus Sicht der Informatik

Source Document

Das Las Vegas Reconstruction Toolkit

PDF

2011

Could Positive Affect Help Engineer Robot Control Systems?

PDF

A Heuristic Loop Closing Technique for Large-Scale 6D SLAM

PDF

Unter Modulbuchhaltern und Sprintstudierenden – Wer studiert heute KI? Und warum?

PDF

The Problem of Spatio-temporally Constrained Motion Planning for Cooperative Vehicles

PDF

Model-based object recognition from 3D laser data

PDF

Matching CAD Object Models in Semantic Mapping

PDF

Automatisiertes Auffinden und Auffüllen von Scanschatten in 3D-Laserscans

PDF

2010

From Semantic Mapping to Anchored Knowledge Bases

Source Document

Towards Real Time Robot 6D Localization in a Polygonal Indoor Map Based on 3D ToF Camera Data

PDF

Automatic Construction of Polygonal Maps from Point Cloud Data.

PDF

LiSA: Auf dem Weg zur sicheren Assistenzrobotik

Source Document

3D-Roboterkartenbau in Osnabrück

Source Document

2005

High-speed laser localization for mobile robots

PDF

Mapping of rescue environments with kurt3d

PDF

2004

Saliency-based object recognition in 3D data

PDF

Indoor and outdoor localization for fast mobile robots

PDF

Supervised Theses

All Theses

Projects

All Projects

3DinOS

2016 to 2017
In quite a few projects world-wide, 3D Mapping technology has been used for documenting historical buildings -- typically involving a massive amount of time and person power for both the data capture …

LiSA

2006 to 2009
The LiSA project was funded by BMBF (Bundesministerium für Bildung und Forschung). Project duration was 1.4.2006 - 31.7.2009. The goal was to develop an autonomous mobile robot as a system assisting …

MACS

2005 to 2007
MACS – Multi-sensory Autonomous Cognitive Systems. The MACS project is a Specifically Targeted Research Project (STReP) for Exploring and Exploiting the Concept of Affordances for Robot Control. The …

RACE

2011 to 2014
Robustness by Autonomous Competence Enhancement

SOILAssist - Nachhaltige Sicherung und Verbesserung von Boden-funktionen durch intelligente Landbewirtschaftung – Ein Echtzeit-Assistenzsystem für die Praxis

2019 to 2021
Das interdisziplinäre Forschungsprojekt SOILAssist befasst sich mit dem landwirtschaftlichen Bodenschutz bei der Befahrung von Ackerflächen und verfolgt das Ziel, negative Veränderungen der …