Sören Schwertfeger

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Hierarchical Topometric Representation of 3D Robotic Maps

In this paper, we propose a method for generating a hierarchical, volume...
11/16/2021 ∙ by Zhenpeng He, et al. ∙ 0 ∙ share

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Improved Visual-Inertial Localization for Low-cost Rescue Robots

This paper improves visual-inertial systems to boost the localization ac...
11/17/2020 ∙ by Xiaoling Long, et al. ∙ 0 ∙ share

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Advanced Mapping Robot and High-Resolution Dataset

This paper presents a fully hardware synchronized mapping robot with sup...
07/23/2020 ∙ by Hongyu Chen, et al. ∙ 0 ∙ share

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Self-supervised Point Set Local Descriptors for Point Cloud Registration

In this work, we propose to learn local descriptors for point clouds in ...
03/11/2020 ∙ by Yijun Yuan, et al. ∙ 0 ∙ share

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Non-iterative One-step Solution for Point Set Registration Problem on Pose Estimation without Correspondence

In this work, we propose to directly find the one-step solution for the ...
03/01/2020 ∙ by Yijun Yuan, et al. ∙ 0 ∙ share

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Comparison and Evaluation of 2D and 3D Range Sensors

For mobile robots range sensors are important to perceive the environmen...
12/03/2019 ∙ by Qingwen Xu, et al. ∙ 0 ∙ share

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Room Detection for Topological Maps

Mapping is an important part of many robotic applications. In order to m...
12/03/2019 ∙ by Sören Schwertfeger, et al. ∙ 0 ∙ share

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Evaluation of Smartphone IMUs for Small Mobile Search and Rescue Robots

Small mobile robots are an important class of Search and Rescue Robots. ...
12/03/2019 ∙ by Xiangyang Zhi, et al. ∙ 0 ∙ share

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Fast 2D Map Matching Based on Area Graphs

We present a novel area matching algorithm for merging two different 2D ...
11/18/2019 ∙ by Jiawei Hou, et al. ∙ 0 ∙ share

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Fine-grained Qualitative Spatial Reasoning about Point Positions

The ability to persist in the spacial environment is, not only in the ro...
11/15/2019 ∙ by Sören Schwertfeger, et al. ∙ 0 ∙ share

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Furniture Free Mapping using 3D Lidars

Mobile robots depend on maps for localization, planning, and other appli...
11/02/2019 ∙ by Zhenpeng He, et al. ∙ 0 ∙ share

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Furniture Free Mapping

Mobile robots depend on maps for localization, planning and other applic...
11/02/2019 ∙ by Zhenpeng He, et al. ∙ 0 ∙ share

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Pose Estimation for Omni-directional Cameras using Sinusoid Fitting

We propose a novel pose estimation method for geometric vision of omni-d...
10/02/2019 ∙ by Haofei Kuang, et al. ∙ 0 ∙ share

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Area Graph: Generation of Topological Maps using the Voronoi Diagram

Representing a scanned map of the real environment as a topological stru...
10/01/2019 ∙ by Jiawei Hou, et al. ∙ 0 ∙ share

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Mapping with Reflection – Detection and Utilization of Reflection in 3D Lidar Scans

This paper presents a method to detect reflection with 3D light detectio...
09/27/2019 ∙ by Xiting Zhao, et al. ∙ 0 ∙ share

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Improving CNN-based Planar Object Detection with Geometric Prior Knowledge

In this paper, we focus on the question: how might mobile robots take ad...
09/23/2019 ∙ by Jianxiong Cai, et al. ∙ 0 ∙ share

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Path Planning Tolerant to Degraded Locomotion Conditions

Mobile robots, especially those driving outdoors and in unstructured ter...
09/23/2019 ∙ by Xiaoling Long, et al. ∙ 0 ∙ share

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Configuration-Space Flipper Planning on 3D Terrain

Autonomous run is always a goal in the field of rescue robot and the uti...
09/17/2019 ∙ by Yijun Yuan, et al. ∙ 0 ∙ share

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Adaptive Navigation Scheme for Optimal Deep-Sea Localization Using Multimodal Perception Cues

Underwater robot interventions require a high level of safety and reliab...
06/12/2019 ∙ by Arturo Gomez Chavez, et al. ∙ 0 ∙ share

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Heterogeneous Multi-sensor Calibration based on Graph Optimization

Many robotics and mapping systems contain multiple sensors to perceive t...
05/27/2019 ∙ by Hongyu Chen, et al. ∙ 0 ∙ share

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Towards Generation and Evaluation of Comprehensive Mapping Robot Datasets

This paper presents a fully hardware synchronized mapping robot with sup...
05/23/2019 ∙ by Hongyu Chen, et al. ∙ 0 ∙ share

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Depth Estimation on Underwater Omni-directional Images Using a Deep Neural Network

In this work, we exploit a depth estimation Fully Convolutional Residual...
05/23/2019 ∙ by Haofei Kuang, et al. ∙ 1 ∙ share

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Configuration-Space Flipper Planning for Rescue Robots

For rescue robots, flipper endows the robot with additional ability to p...
05/08/2019 ∙ by Yijun Yuan, et al. ∙ 0 ∙ share

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Learning Autonomous Exploration and Mapping with Semantic Vision

We address the problem of autonomous exploration and mapping for a mobil...
01/15/2019 ∙ by Xiangyang Zhi, et al. ∙ 0 ∙ share

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Fast Gaussian Process Occupancy Maps

In this paper, we demonstrate our work on Gaussian Process Occupancy Map...
11/26/2018 ∙ by Yijun Yuan, et al. ∙ 0 ∙ share

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Topological Area Graph Generation and its Application to Path Planning

Representing a scanned map of the real environment as a topological stru...
11/13/2018 ∙ by Jiawei Hou, et al. ∙ 0 ∙ share

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Incrementally Building Topology Graphs via Distance Maps

Mapping is an essential task for mobile robots and topological represent...
11/05/2018 ∙ by Yijun Yuan, et al. ∙ 0 ∙ share

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Sören Schwertfeger

Featured Co-authors

Hao Sun

Xuming He

Laurent Kneip

Andreas Birk

Jiawei Hou

Christian A. Mueller

Yijun Yuan

Qingwen Xu

Jianwen Luo

Zhenpeng He

Arturo Gomez Chavez

Hierarchical Topometric Representation of 3D Robotic Maps

Improved Visual-Inertial Localization for Low-cost Rescue Robots

Advanced Mapping Robot and High-Resolution Dataset

Self-supervised Point Set Local Descriptors for Point Cloud Registration

Non-iterative One-step Solution for Point Set Registration Problem on Pose Estimation without Correspondence

Comparison and Evaluation of 2D and 3D Range Sensors

Room Detection for Topological Maps

Evaluation of Smartphone IMUs for Small Mobile Search and Rescue Robots

Fast 2D Map Matching Based on Area Graphs

Fine-grained Qualitative Spatial Reasoning about Point Positions

Furniture Free Mapping using 3D Lidars

Furniture Free Mapping

Pose Estimation for Omni-directional Cameras using Sinusoid Fitting

Area Graph: Generation of Topological Maps using the Voronoi Diagram

Mapping with Reflection – Detection and Utilization of Reflection in 3D Lidar Scans

Improving CNN-based Planar Object Detection with Geometric Prior Knowledge

Path Planning Tolerant to Degraded Locomotion Conditions

Configuration-Space Flipper Planning on 3D Terrain

Adaptive Navigation Scheme for Optimal Deep-Sea Localization Using Multimodal Perception Cues

Heterogeneous Multi-sensor Calibration based on Graph Optimization

Towards Generation and Evaluation of Comprehensive Mapping Robot Datasets

Depth Estimation on Underwater Omni-directional Images Using a Deep Neural Network

Configuration-Space Flipper Planning for Rescue Robots

Learning Autonomous Exploration and Mapping with Semantic Vision

Fast Gaussian Process Occupancy Maps

Topological Area Graph Generation and its Application to Path Planning

Incrementally Building Topology Graphs via Distance Maps