Christoph Hertzberg

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— In this paper, we present a new hierarchical optimization solution to the graph-based simultaneous localization and mapping (SLAM) problem. During online mapping, the approach corrects only the coarse structure of the scene and not the overall map. In this way, only updates for the parts of the map that need to be considered for making data associations(More)
When autonomous robots begin to share the human living and working spaces, safety becomes paramount. It is legally required that the safety of such systems is ensured , e. g. by certification according to relevant standards such as IEC 61508. However, such safety considerations are usually not addressed in academic robotics. In this paper we report on one(More)
Common estimation algorithms, such as least squares estimation or the Kalman filter, operate on a state in a state space S that is represented as a real-valued vector. However, for many quantities, most notably orientations in 3D, S is not a vector space, but a so-called manifold, i.e. it behaves like a vector space locally but has a more complex global(More)
— This paper shows that the field of visual SLAM has matured enough to build a visual SLAM system from open source components. The system consists of feature detection, data association, and sparse bundle adjustment. For all three modules we evaluate different libraries w.r.t. ground truth. We also present an extension of the SLAM system to create dense(More)
Common diseases are often complex because they are genetically heterogeneous, with many different genetic defects giving rise to clinically indistinguishable phenotypes. This has been amply documented for early-onset cognitive impairment, or intellectual disability, one of the most complex disorders known and a very important health care problem worldwide.(More)
The tutorial " Understanding spatial thought through language use " took place at the International Spatial Cognition Conference on August 31, 2012 at Kloster Seeon in Germany. This report outlines the main rationale for the tutorial along with central contributions by its participants, who considerably enhanced the success of the tutorial by sharing and(More)
BACKGROUND Aicardi-Goutières syndrome (AGS) is a genetically determined early-onset encephalopathy with variable phenotype, including neurologic manifestations such as dystonia, spasticity, epileptic seizures, progressive microcephaly, and severe developmental delay. The aim of our study was the characterization of epilepsy, one of the most frequent and(More)