Contact

Address

Osnabrück University
Institute of Computer Science
Wachsbleiche 27
49090 Osnabrück

Room

50/609

Office Hours

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

Phone

+49 541 9690 2623

Interests

  • Artificial Intelligence
  • Autonomous mobile robots
  • Navigational planning
  • Robot Operating System (ROS)
  • Sensor data interpretation
  • Semantic mapping

Education

  • M. Sc. Computer Science, 2016

    Osnabrück University

  • B. Sc. Computer Science and Physics, 2013

    Osnabrück University

Research summary

My work focuses on algorithms and data structures for navigational planning in outdoor scenarios while using semantic information. Semantic maps simplify the interaction between humans and robots, and also the way we program the robots. I focus on new outdoor navigation approaches for mobile robots using reconstructed layered meshes for navigational planning. An on-line capable semantic map approach is my research goal. I am researching for a new data structure combining the strength of octrees and meshes fulfilling the needs for online capable semantic maps which are useful for navigational planning for many different robots.

Academic Record

  • PhD in Computer Science
    Osnabrück University
    Mar 2017 – today
  • Visiting Researcher
    University of Oxford, Oxford Robotics Institute
    Jan 2020 – Feb 2020
  • Visiting Researcher
    University of Auckland, Centre for Automation and Robotic Engineering Science
    Oct 2018 – Dec 2018
  • M. Sc. Computer Science
    Osnabrück University
    Oct 2013 – Apr 2016
  • B. Sc. Computer Science and Physics
    Osnabrück University
    Oct 2010 – Dec 2013

Professional Career

  • Research Assistants
    Osnabrück University
    Apr 2017 – today
  • Robot Software Engineer
    Magazino GmbH
    Oct 2016 – Feb 2017
  • Software Engineer
    Motion Media GmbH
    Jun 2016 – Sep 2016
  • Software and Hardware Engineer
    Netrocks GmbH
    Feb 2016 – Jun 2016
  • Sep 2014 – Sep 2014
  • Research Intern
    ZF Friedrichshafen AG
    Aug 2013 – Oct 2013
  • Software Engineer
    ProHub Hebetechnik GmbH
    May 2012 – Feb 2013
  • Research Student Assistant
    Osnabrück University
    May 2011 – Oct 2011
  • Webdeveloper & Webdesigner
    Pütz Design
    Mar 2009 – Apr 2010

Publications

All Publications

2024

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

PDF Code Video

2021

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

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

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

2018

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

Code Project

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

PDF

Erzeugung von hyperspektralen Punktwolken auf einem mobilen Roboter

PDF

2017

Introducing a highly flexible navigation framework: Move Base Flex

Code Project Slides Video ROS Wiki

3D-Hyperspektralpunktwolken und semantische Karten für präzise Agraranwendungen

DKG 2017

2016

3D Navigation Mesh Generation for Path Planning in Uneven Terrain

Source Document

2014

Integrating Semantic Information in Navigational Planning

PDF

Projects

All Projects

Move Base Flex

2017
Move Base Flex (MBF) is a backwards-compatible replacement for move_base. MBF can use existing plugins for move_base, and provides an enhanced version of the planner, controller and recovery plugin …