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An evaluation of the RGB-D SLAM system
We present an approach to simultaneous localization and mapping (SLAM) for RGB-D cameras like the Microsoft Kinect. Our system concurrently estimates the trajectory of a hand-held Kinect and
3-D Mapping With an RGB-D Camera
TLDR
A novel mapping system that robustly generates highly accurate 3-D maps using an RGB-D camera that applies to small domestic robots such as vacuum cleaners, as well as flying robotssuch as quadrocopters.
D Mapping with an RGB-D Camera
TLDR
A novel mapping system that robustly generates highly accurate 3D maps using an RGB-D camera that applies to small domestic robots as well as flying robots such as quadrocopters and free-hand reconstruction of detailed 3D models.
Temporary maps for robust localization in semi-static environments
TLDR
This paper presents a localization framework that can robustly track a robot's pose even in non-static environments and outperforms standard localization methods for static environments.
Learning the State Transition Model to Efficiently Clean Surfaces with Mobile Manipulation Robots
TLDR
A novel approach is presented that enables a robot to efficiently learn to clean unknown surfaces as a Markov decision problem (MDP) where the state transition model is unknown and needs to be estimated.
Monocular range sensing: A non-parametric learning approach
TLDR
A novel approach to learning the relationship between range measurements and visual features extracted from a single monocular camera image is presented, using Gaussian processes, a non-parametric learning technique that not only yields the most likely range prediction corresponding to a certain visual input but also the predictive uncertainty.
Poisson-driven dirt maps for efficient robot cleaning
TLDR
A novel approach that uses cell-wise Poisson processes on a regular grid to estimate the distribution of dirt in the environment allows for an effective estimation of the dynamics of the generation of dirt and for making predictions about the absolute dirt values.
Null space optimization for effective coverage of 3D surfaces using redundant manipulators
TLDR
The approach described here explicitly considers the null space by treating different inverse kinematics solutions as individual nodes in a graph and model the problem as a generalized traveling salesman problem (GTSP).
Real-time 3 D visual SLAM with a hand-held RGB-D camera
TLDR
This paper presents the RGB-D SLAM system, an approach to generate colored 3D models of objects and indoor scenes using the hand-held Microsoft Kinect sensor, and applies SURF instead of SIFT features.
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