Publications

Filter by type: Year:

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

FeatSense -- A Feature-based Registration Algorithm with GPU-accelerated TSDF-Mapping Backend for NVIDIA Jetson Boards

Preprint PDF Code

Towards 6D MCL for LiDARs in 3D TSDF Maps on Embedded Systems with GPUs

Preprint PDF Code

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

PDF Code Video

ReDroSe — Reconfigurable Drone Setup for Resource-efficient SLAM

PDF

2022

Computing Arbitrarily Large Meshes with Level-of-Detail Support for Cesium 3D Tiles

PDF

ReconfROS: An approach for accelerating ROS nodes on reconfigurable SoCs

PDF Code

A Fully Integrated System for Hardware-accelerated TSDF SLAM with LiDAR Sensors (HATSDF SLAM)

PDF

WIP: Real-world 3D models derived from mobile mapping for ray launching based propagation loss modeling

PDF

Hyperspectral 3D Point Cloud Segmentation with RandLA-Net

PDF

Energieeffizientes FPGA-basiertes TSDF-SLAM für Mobile Mapping

PDF

Integration von Hyperspektraldaten in RandLA-Net zur Klassifikation in 3D Punktwolken

PDF

2021

Energy-efficient FPGA-accelerated LiDAR-based SLAM for Embedded Robotics

PDF

HATSDF SLAM - Hardware-accelerated TSDF SLAM for Reconfigurable SoCs

PDF Slides Video

Monocular Localization in Feature-Annotated 3D Polygon Maps

PDF Video

Beleuchtungsausgleich zur Klassifikation auf hyperspektral annotierten 3D-Punkwolken

PDF Source Document

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

PDF Video

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

PDF

ReconfROS: Running ROS on Reconfigurable SoCs

PDF Video

2020

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

PDF

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

PDF

Erzeugung und inkrementelle Erweiterung großer 3D-Karten

PDF

Online Beleuchtungsausgleich für terrestrische Hyperspektralaufnahmen

PDF

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

PDF

2019

Compressing ROS Sensor and Geometry Messages with Draco

PDF

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

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

Verteilte Oberflächenrekonstruktion aus 3D-Punktwolken

PDF Source Document

Simulation von Laserscannern in Pflanzenbeständen für die Entwicklung umfeldbasierter Funktionen

Erzeugung von hyperspektralen Punktwolken auf einem mobilen Roboter

PDF

Surface Reconstruction from Arbitrarily Large Point Clouds

PDF Source Document

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

PDF Source Document

Planning under uncertainty through goal-driven action selection

PDF Source Document

2017

3D-Hyperspektralpunktwolken und semantische Karten für präzise Agraranwendungen

DKG 2017

Introducing a highly flexible navigation framework: Move Base Flex

Code Project Slides Video ROS Wiki

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

Konzeptentwicklung zur automationsgestützten 3D-Digitalisierung kulturhistorisch relevanter Bauten

PDF

Massiv parallelisierte Oberflächenrekonstruktion aus großvolumigen und hochaufgelösten 3D-Punktwolken

PDF

Model-Based Furniture Recognition for Building Semantic Object Maps

Source Document

2016

3D Navigation Mesh Generation for Path Planning in Uneven Terrain

Source Document

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

Source Document

Online Mesh Optimization for Large Scale KinectFusion Meshes

Source Document

Optimizing Triangle Mesh Reconstructions of Planar Environments

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

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

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

AI Reasoning Methods for Robotics

Source Document

Data Handling in Large Scale Surface Reconstruction.

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

Abducing Hypotheses about Past Events from Observed Environment Changes

Source Document

Hierarchical Hybrid Planning in a Mobile Service Robot

Source Document

Generating Topologically Consistent Triangle Meshes from Large Scale Kinect Fusion

Source Document

SEMAP -- A Semantic Environment Mapping Framework

Source Document

The Role of Functional Affordances in Socializing Robots.

Source Document

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

Abstrakte virtuelle Illusionen für die Schlaganfalltherapie

Source Document

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

Source Document

Technische Gestaltungsoptionen für autonom agierende Komponenten und Systeme.

2014

The RACE Project -- Robustness by Autonomous Competence Enhancement

Source Document

Abstrakte virtuelle Umgebung für die Schlaganfalltherapie

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

PDF

Large Scale Surface Reconstruction

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

Telepresence and motor rehabilitation in an abstract virtual environment for stroke patients

Multi-wavelength laser line profile sensing for agricultural crop characterization

Source Document

Autonome Systeme in der Landwirtschaft (Erweiterte Zusammenfassung)

Source Document

Planning Domain + Execution Semantics: a Way Towards Robust Execution?

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

Harnessing the Experience of Presence for Virtual Motor Rehabilitation: Towards a Guideline for the Development of Virtual Reality Environments

PDF

Automatic Generation of 3D Polygon Maps for Mobile Robots

PDF Source Document

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

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

PDF

Building Semantic Object Maps from Sparse and Noisy 3D Data

PDF

Affordance-Based Reasoning in Robot Task Planning

PDF

Automatic Map Creation for Environment Modelling in Robotic Simulators

PDF

Automatische Generierung dreidimensionaler Polygonkarten für mobile Roboter

PDF

Infield Path Planning for Autonomous Unloading Vehicles

PDF

Abstract virtual environment for motor rehabilitation of stroke patients with upper limb dysfunction. A pilot study

Source Document

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

PDF

Encoding HTN Heuristics in PDDL Planning Instances (Extended Abstract)

Source Document

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

PDF

Interpreting Observed Actions (Dagstuhl Seminar 12491)

PDF

Kognitive Robotik

Seeing the Unseen: Simple Reconstruction of Transparent Objects from Point Cloud Data

PDF

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

Source Document

2012

Hybrid Reasoning in Perception: A Case Study

Source Document

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

PDF

Laser-based geometrical modeling of large-scale architectural structures using co-operative multiple robots

PDF

Online scheduling of flexible job-shops with blocking and transportation

PDF

Therapeutic presence - virtual illusions for neurorehabilitation

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

Generative design as a method to foster explorative behaviour in virtual motor rehabilitation

PDF

2011

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

PDF

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

PDF

Could Positive Affect Help Engineer Robot Control Systems?

PDF

Model-based object recognition from 3D laser data

PDF

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

PDF

Matching CAD Object Models in Semantic Mapping

PDF

The 3D Hough Transform for Plane Detection in Point Clouds - A Review and A new Accumulator Design

PDF

Automatisiertes Auffinden und Auffüllen von Scanschatten in 3D-Laserscans

PDF

User Stories als Kommunikationsbasis bei der Integration von e-Learning in ein Campusmanagementsystem

PDF

Usage of mobile self-assessment to support a continuous learning process

PDF

2010

Non-rigid registration and rectification of 3D laser scans

PDF

From Semantic Mapping to Anchored Knowledge Bases

Source Document

Seeing structure in the point cloud -- first attempts at 3D symbols for mobile robots

Source Document

Using Top-Down Information in Semantic Mapping

Source Document

A data structure for the 3D hough transform for plane detection

PDF

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

Verbesserte Kartenqualität durch Thin Plate Splines und Hough-Transformation

Source Document

3D-Roboterkartenbau in Osnabrück

Source Document

LiSA: Auf dem Weg zur sicheren Assistenzrobotik

Source Document

2005

High-speed laser localization for mobile robots

PDF

Mapping of rescue environments with kurt3d

PDF

Robust Object Detection at Regions of Interest with an Application in Ball Recognition

PDF

2004

Indoor and outdoor localization for fast mobile robots

PDF

Saliency-based object recognition in 3D data

PDF