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Three-dimensional models provide a volumetric representation of space which is important for a variety of robotic applications including flying robots and robots that are equipped with manipulators. In this paper, we present an open-source framework to generate volumetric 3D environment models. Our mapping approach is based on octrees and uses probabilistic(More)
In this paper, we present an approach for modeling 3D environments based on octrees using a probabilistic occupancy estimation. Our technique is able to represent full 3D models including free and unknown areas. It is available as an open-source library to facilitate the development of 3D mapping systems. We also provide a detailed review of existing(More)
This paper addresses the problem of exploring an unknown environment with a team of mobile robots. The key issue in coordinated multi-robot exploration is how to assign target locations to the individual robots such that the overall mission time is minimized. In this paper, we propose a novel approach to distribute the robots over the environment that takes(More)
In this paper, we present a localization method for humanoid robots navigating in arbitrary complex indoor environments using only onboard sensing. Reliable and accurate localization for humanoid robots operating in such environments is a challenging task. First, humanoids typically execute motion commands rather inaccurately and odometry can be estimated(More)
In this paper we focus on the multi-robot perception problem, and present an experimentally validated end-to-end multi-robot mapping framework, enabling individual robots in a team to see beyond their individual sensor horizons. The inference part of our system is the DDF-SAM algorithm [1], which provides a decentralized communication and inference scheme,(More)
This paper addresses the problem of vegetation detection from laser measurements. The ability to detect vegetation is important for robots operating outdoors, since it enables a robot to navigate more efficiently and safely in such environments. In this paper, we propose a novel approach for detecting low, grass-like vegetation using laser remission values.(More)
One important design decision for the development of autonomously navigating mobile robots is the choice of the representation of the environment. This includes the question which type of features should be used or whether a dense representation such as occupancy grid maps is more appropriate. In this paper, we present an approach which performs SLAM using(More)
In order to evaluate the diagnostic reliability of somatostatin receptor scintigraphy (SRS) in patients treated with somatostatin analogs, ten patients with metastatic neuroendocrine tumors were investigated before and during continuous treatment. Different somatostatin analogs were used for therapy: five patients received octreotide (Sandostatin, Sandoz,(More)
Serum concentrations of IgG, IgA, and IgM antibodies to three heat shock proteins (HSPs)--ubiquitin, HSP70, and HSP90--were measured using ELISA in 37 patients with pulmonary sarcoidosis. When compared to healthy controls (n = 44), increased concentrations of IgA and IgG antibodies to ubiquitin were found in 13 (35.1%, p < 0.002) and 7 (18.9%, p < 0.05)(More)
Scintigraphy with a radiolabelled somatostatin analog represents a new highly specific approach in the diagnostic work-up of receptor-positive APUD tumours and their metastases. We present our preliminary results with somatostatin receptor scintigraphy in 15 patients with histologically proven midgut carcinoid. 5 out of 6 primary tumour sites (83%) and 90%(More)