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2019

Towards Training Person Detectors for Mobile Robots using Synthetically Generated RGB-D Data

Towards Training Person Detectors for Mobile Robots using Synthetically Generated RGB-D Data

Timm Linder, Michael Johan Hernandez Leon, Narunas Vaskevicius and Kai Oliver Arras. CVPR 2019: Workshop on 3D Scene Generation.
A Novel Weakly-supervised approach for RGB-D-based Nuclear Waste Object Detection and Categorization

A Novel Weakly-supervised approach for RGB-D-based Nuclear Waste Object Detection and Categorization

Li Sun, Cheng Zhao, Zhi Yan, Pengcheng Liu, Tom Duckett and Rustam Stolkin. IEEE Sensors Journal (Volume: 19, Issue: 9, 2019).
URSIM: Unique Regions for Sketch map Interpretation and Matching

URSIM: Unique Regions for Sketch map Interpretation and Matching

Malcolm Mielle, Martin Magnusson and Achim J. Lilienthal. Robotics (Volume: 8, Issue: 2, 2019)
Informed Information Theoretic Model Predictive Control

Informed Information Theoretic Model Predictive Control

Raphael Kusumoto, Luigi Palmieri, Markus Spies, Akos Csiszar, and Kai. O. Arras. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) 2019.
Deconfliction of Motion Paths with Traffic Inspired Rules in Robot–Robot and Human–Robot Interactions

Deconfliction of Motion Paths with Traffic Inspired Rules in Robot–Robot and Human–Robot Interactions

Federico Celi, Li Wang, Lucia Pallottino, and Magnus Egerstedt. IEEE Robotics and Automation Letters (Volume: 4, Issue: 2, 2019). [Awards finalist: Best Paper Award on Human-Robot Interaction at ICRA 2019]
The Auto-Complete Graph: Merging and Mutual Correction of Sensor and Prior Maps for SLAM

The Auto-Complete Graph: Merging and Mutual Correction of Sensor and Prior Maps for SLAM

Malcolm Mielle, Martin Magnusson and Achim J. Lilienthal. Robotics (Volume: 8, Issue: 2, 2019)

2018

Motion Planning and Goal Assignment for Robot Fleets Using Trajectory Optimization

Motion Planning and Goal Assignment for Robot Fleets Using Trajectory Optimization

João Salvado, Federico Pecora, Masoumeh Mansouri, and Robert Krug. 2018 IEEE International Conference on Intelligent Robots and Systems (IROS).
Safety Map: A Tool for Global Robot Safety Evaluation and Safe Robot Design

Safety Map: A Tool for Global Robot Safety Evaluation and Safe Robot Design

Nico Mansfeld, Mazin Hamad, Marvin Becker, Antonio Gonzales Marin and Sami Haddadin. 2018 IEEE International Conference on Robotics and Automation (ICRA).
Learning monocular visual odometry with dense 3D mapping from dense 3D flow

Learning monocular visual odometry with dense 3D mapping from dense 3D flow

Cheng Zhao, Li Sun, Pulak Purkait, Tom Duckett, and Rustam Stolkin. Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS) 2018.
Multisensor Online Transfer Learning for 3D LiDAR-based Human Detection with a Mobile Robot

Multisensor Online Transfer Learning for 3D LiDAR-based Human Detection with a Mobile Robot

Zhi Yan, Li Sun, Tom Duckett, and Nicola Bellotto. Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS) 2018.
Dense RGB-D Semantic Mapping with Pixel-Voxel Neural Network

Dense RGB-D Semantic Mapping with Pixel-Voxel Neural Network

Cheng Zhao, Li Sun, Pulak Purkait , Tom Duckett, and Rustam Stolkin. Sensors (Volume: 18, Issue: 9, 2018).
Recurrent-OctoMap: Learning State-based Map Refinement for Long-Term Semantic Mapping with 3D-Lidar Data

Recurrent-OctoMap: Learning State-based Map Refinement for Long-Term Semantic Mapping with 3D-Lidar Data

Li Sun, Zhi Yan, Anestis Zaganidis, Cheng Zhao, and Tom Duckett. IEEE Robotics and Automation Letters (Volume: 3, Issue: 4, 2018).
Integrating Deep Semantic Segmentation Into 3-D Point Cloud Registration

Integrating Deep Semantic Segmentation Into 3-D Point Cloud Registration

Anestis Zaganidis, Li Sun, Tom Duckett and Grzegorz Cielniak. IEEE Robotics and Automation Letters (Volume: 3, Issue: 4, 2018).
Introduction to the Special Issue on AI for Long-Term Autonomy

Introduction to the Special Issue on AI for Long-Term Autonomy

Lars Kunze, Nick Hawes, Tom Duckett, and Marc Hanheide. IEEE Robotics and Automation Letters (Volume: 3, Issue: 4, 2018).
Artificial Intelligence for Long-Term Robot Autonomy: A Survey

Artificial Intelligence for Long-Term Robot Autonomy: A Survey

Lars Kunze, Nick Hawes, Tom Duckett, Marc Hanheide and Tomás Krajník. IEEE Robotics and Automation Letters (Volume: 3, Issue: 4, 2018).
Modelling and Predicting Rhythmic Flow Patterns in Dynamic Environments

Modelling and Predicting Rhythmic Flow Patterns in Dynamic Environments

Sergi Molina, Grzegorz Cielniak, Tomás Krajník, and Tom Duckett. 2018 Conference Towards Autonomous Robotic Systems (TAROS).
Down The CLiFF: Flow-aware Trajectory Planning under Motion Pattern Uncertainty

Down The CLiFF: Flow-aware Trajectory Planning under Motion Pattern Uncertainty

Chittaranjan Srinivas Swaminathan, Tomasz Piotr Kucner, Martin Magnusson, Luigi Palmieri and Achim J. Lilienthal. 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
Improving Localisation Accuracy using Submaps in Warehouses

Improving Localisation Accuracy using Submaps in Warehouses

Daniel Adolfsson, Stephanie Lowry, and Henrik Andreasson. IROS 2018: Workshop on Robotics for Logistics in Warehouses and Environments Shared with Humans.
Towards Accurate 3D Person Detection and Localization from RGB-D in Cluttered Environments

Towards Accurate 3D Person Detection and Localization from RGB-D in Cluttered Environments

Timm Linder, Dennis Griesser, Narunas Vaskevicius and Kai O. Arras. IROS 2018: Workshop on Robotics for Logistics in Warehouses and Environments Shared with Humans.
Synthetic Occlusion Augmentation with Volumetric Heatmaps for the 2018 ECCV PoseTrack Challenge on 3D Human Pose Estimation

Synthetic Occlusion Augmentation with Volumetric Heatmaps for the 2018 ECCV PoseTrack Challenge on 3D Human Pose Estimation

István Sárándi, Timm Linder, Kai O. Arras and Bastian Leibe. European Conference on Computer Vision (ECCV) 2018 Workshops. [Winner of 2018 PoseTrack 3D Challenge]
Human Motion Prediction Under Social Grouping Constraints

Human Motion Prediction Under Social Grouping Constraints

Andrey Rudenko, Luigi Palmieri, Achim J. Lilienthal and Kai O. Arras. Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS) 2018. [Awards finalist: Best Paper Award on Safety Security and Rescue Robotics]
How Robust is 3D Human Pose Estimation to Occlusion?

How Robust is 3D Human Pose Estimation to Occlusion?

István Sárándi, Timm Linder, Kai O. Arras, and Bastian Leibe. IROS 2018: Workshop on Robotic Co-workers 4.0: Human Safety and Comfort in Human-Robot Interactive Social Environments.
Deep Person Detection in Two-Dimensional Range Data

Deep Person Detection in Two-Dimensional Range Data

Lucas Beyer, Alexander Hermans, Timm Linder, Kai O. Arras, and Bastian Leibe. IEEE Robotics and Automation Letters (RA-L) with presentation at IROS, 2018.
Nonlinear Optimization of Multimodal 2D Map Alignment with Application to Prior Knowledge Transfer

Nonlinear Optimization of Multimodal 2D Map Alignment with Application to Prior Knowledge Transfer

Saeed Gholami Shahbandi, Martin Magnusson, and Karl Iagnemma. IEEE Robotics and Automation Letters (Volume: 3, Issue: 3, 2018).
2D Map Alignment with Region Decomposition

2D Map Alignment with Region Decomposition

Saeed Gholami Shahbandi and Martin Magnusson. Autonomous Robots (Volume 43, Issue 5)
Safety Map: A Unified Representation for Biomechanics Impact Data and Robot Instantaneous Dynamic Properties

Safety Map: A Unified Representation for Biomechanics Impact Data and Robot Instantaneous Dynamic Properties

Nico Mansfeld , Mazin Hamad , Marvin Becker, Antonio Gonzales Marin, and Sami Haddadin. IEEE Robotics and Automation Letters (Volume: 3, Issue: 3, July 2018).
A Survey of Voxel Interpolation Methods and an Evaluation of Their Impact on Volumetric Map-Based Visual Odometry

A Survey of Voxel Interpolation Methods and an Evaluation of Their Impact on Volumetric Map-Based Visual Odometry

Daniel Ricão Canelhas, Todor Stoyanov, and Achim J. Lilienthal. IEEE International Conference on Robotics and Automation (ICRA) 2018.
A Loosely-Coupled Approach for Multi-Robot Coordination, Motion Planning and Control

A Loosely-Coupled Approach for Multi-Robot Coordination, Motion Planning and Control

Federico Pecora, Henrik Andreasson, Masoumeh Mansouri and Vilian Petkov. Proceedings of the International Conference on Automated Planning and Scheduling (ICAPS).
3DOF Pedestrian Trajectory Prediction Learned from Long-Term Autonomous Mobile Robot Deployment Data

3DOF Pedestrian Trajectory Prediction Learned from Long-Term Autonomous Mobile Robot Deployment Data

Li Sun, Zhi Yan, Sergi Molina Mellado, Marc Hanheide, and Tom Duckett. IEEE International Conference on Robotics and Automation (ICRA) 2018.
Joint Long-Term Prediction of Human Motion Using a Planning-Based Social Force Approach

Joint Long-Term Prediction of Human Motion Using a Planning-Based Social Force Approach

Andrey Rudenko, Luigi Palmieri, and Kai Oliver Arras. IEEE International Conference on Robotics and Automation (ICRA) 2018.
Gradient-Informed Path Smoothing for Wheeled Mobile Robots

Gradient-Informed Path Smoothing for Wheeled Mobile Robots

Eric Heiden, Luigi Palmieri, Sven Koenig, Kai Oliver Arras, and Gaurav Sukhatme. IEEE International Conference on Robotics and Automation (ICRA) 2018.

2017

Spatiotemporal Models for Motion Planning in Human Populated Environments

Spatiotemporal Models for Motion Planning in Human Populated Environments

Tomas Vintr, Sergi Mellado Molina, Grzegorz Cielniak, Tom Duckett and Tomas Krajnik. 2017 Student Conference on Planning in Artificial Intelligence and Robotics (PAIR).
Improving the Performance of Biomechanically Safe Velocity Control for Redundant Robots through Reflected Mass Minimization

Improving the Performance of Biomechanically Safe Velocity Control for Redundant Robots through Reflected Mass Minimization

Nico Mansfeld, Badis Djellab, Jaime Raldúa Veuthey, Fabian Beck, Christian Ott, and Sami Haddadin. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2017.
Modelling and Predicting Rhythmic Flow Patterns in Dynamic Environments

Modelling and Predicting Rhythmic Flow Patterns in Dynamic Environments

Sergi Molina, Grzegorz Cielniak, Tomáš Krajník, and Tom Duckett. Proceedings of the UK-RAS Network Conference.
Navigation Testing for Continuous Integration in Robotics

Navigation Testing for Continuous Integration in Robotics

Jaime Pulido Fentanes, Christian Dondrup, and Marc Hanheide. UK-RAS Conference on Robotics and Autonomous Systems (RAS 2017).
Learning to Detect Misaligned Point Clouds

Learning to Detect Misaligned Point Clouds

Håkan Almqvist, Martin Magnusson, Tomasz Piotr Kucner, and Achim J. Lilienthal. Journal of Field Robotics (Volume: 35, Issue: 5).
Semantic-Assisted 3D Normal Distributions Transform for Scan Registration in Environments with Limited Structure

Semantic-Assisted 3D Normal Distributions Transform for Scan Registration in Environments with Limited Structure

Anestis Zaganidis, Martin Magnusson, Tom Duckett, and Grzegorz Cielniak. Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS) 2017.
Incorporating Ego-motion Uncertainty Estimates in Range Data Registration

Incorporating Ego-motion Uncertainty Estimates in Range Data Registration

Henrik Andreasson, Daniel Adolfsson, Todor Stoyanov, Martin Magnusson, and Achim J. Lilienthal. Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS) 2017.
Semi-Supervised 3D Place Categorisation by Descriptor Clustering

Semi-Supervised 3D Place Categorisation by Descriptor Clustering

Martin Magnusson, Tomasz Piotr Kucner, Saeed Gholami Shahbandi, Henrik Andreasson, and Achim J. Lilienthal. Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS) 2017.
Hybrid Curvature Steer: A Novel Extend Function for Sampling-Based Nonholonomic Motion Planning in Tight Environments

Hybrid Curvature Steer: A Novel Extend Function for Sampling-Based Nonholonomic Motion Planning in Tight Environments

Holger Banzhaf, Luigi Palmieri, Dennis Nienhüser, Thomas Schamm, Steffen Knoop, and J. Marius Zöllner. IEEE ITSC 2017, IEEE 20th International Conference on Intelligent Transportation Systems.
Grasp Quality Evaluation Done Right: How Assumed Contact Force Bounds Affect Wrench-Based Quality Metrics

Grasp Quality Evaluation Done Right: How Assumed Contact Force Bounds Affect Wrench-Based Quality Metrics

Robert Krug, Yasemin Bekirogluz, and Máximo A. Roa. IEEE International Conference on Robotics and Automation (ICRA), 2017.
Predictive Planning for a Mobile Robot in Human Environments

Predictive Planning for a Mobile Robot in Human Environments

Andrey Rudenko, Luigi Palmieri, and Kai O. Arras. Workshop on AI Planning and Robotics: Challenges and Methods (ICRA), 2017.
Enabling Flow Awareness for Mobile Robots in Partially Observable Environments

Enabling Flow Awareness for Mobile Robots in Partially Observable Environments

Tomasz Piotr Kucner, Martin Magnusson, Erik Schaffernicht, Victor Hernandez Bennetts, and Achim J. Lilienthal. IEEE Robotics and Automation Letters (Volume: 2, Issue: 2, April 2017).
Noninteracting Constrained Motion Planning and Control for Robot Manipulators

Noninteracting Constrained Motion Planning and Control for Robot Manipulators

Manuel Bonilla, Lucia Pallottino, and Antonio Bicchi. IEEE International Conference on Robotics and Automation (ICRA), 2017.
Kinodynamic Motion Planning on Gaussian Mixture Fields

Kinodynamic Motion Planning on Gaussian Mixture Fields

Luigi Palmieri, Tomasz Kucner, Martin Magnusson, Achim J. Lilienthal, and Kai O. Arras. IEEE International Conference on Robotics and Automation (ICRA), 2017.