Our team focuses on point cloud based representation and reasoning techniques for building accurate and meaningful 3D maps for mobile robots in both indoor and outdoor environments. One of our main application and deployment scenario is the Assistive Kitchen. However, all our methods were carefully crafted with generality in mind, therefore they have been also successfully applied to outdoor urban, aerial, and underwater datasets.
This project was partly funded by CoTeSys.
Ensembles of Strong Learners for Multi-cue Classification , In Pattern Recognition Letters (PRL), Special Issue on Scene Understandings and Behaviours Analysis, 2012.(In press.) [bib] [pdf] |
Furniture Models Learned from the WWW -- Using Web Catalogs to Locate and Categorize Unknown Furniture Pieces in 3D Laser Scans , In Robotics & Automation Magazine, IEEE, volume 18, 2011. [bib] [pdf] |
Combined 2D-3D Categorization and Classification for Multimodal Perception Systems , In The International Journal of Robotics Research, Sage Publications, volume 30, 2011. [bib] [pdf] |
Human Action Recognition using Global Point Feature Histograms and Action Shapes , In Advanced Robotics journal, Robotics Society of Japan (RSJ), 2009. [bib] |
Leaving Flatland: Efficient Real-Time 3D Navigation , In Journal of Field Robotics (JFR), 2009. [bib] |
Towards 3D Point Cloud Based Object Maps for Household Environments , In Robotics and Autonomous Systems Journal (Special Issue on Semantic Knowledge in Robotics), volume 56, 2008. [bib] [pdf] |
Robots in the kitchen: Exploiting ubiquitous sensing and actuation , In Robotics and Autonomous Systems Journal (Special Issue on Network Robot Systems), 2008. [bib] |
The SHERPA project: smart collaboration between humans and ground-aerial robots for improving rescuing activities in alpine environments , In IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), 2012. [bib] [pdf] |
Towards Modular Spatio-temporal Perception for Task-adapting Robots , In Postgraduate Conference on Robotics and Development of Cognition (RobotDoC-PhD), a satellite event of the 22nd International Conference on Artificial Neural Networks (ICANN), 2012. [bib] |
Object Categorization in Clutter using Additive Features and Hashing of Part-graph Descriptors , In Proceedings of Spatial Cognition (SC), 2012. [bib] [pdf] |
Semantic Object Maps for Robotic Housework - Representation, Acquisition and Use , In 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2012. [bib] [pdf] |
A Generalized Framework for Opening Doors and Drawers in Kitchen Environments , In IEEE International Conference on Robotics and Automation (ICRA), 2012. [bib] [pdf] |
Segmenting Cylindrical and Box-like Objects in Cluttered 3D Scenes , In 7th German Conference on Robotics (ROBOTIK), 2012. [bib] [pdf] |
Semantic Object Maps for Household Tasks , In 5th International Conference on Cognitive Systems (CogSys 2012), 2012. [bib] [pdf] |
Efficient Part-Graph Hashes for Object Categorization , In 5th International Conference on Cognitive Systems (CogSys), 2012. [bib] [pdf] |
Robotic Roommates Making Pancakes , In 11th IEEE-RAS International Conference on Humanoid Robots, 2011. [bib] [pdf] |
Autonomous Semantic Mapping for Robots Performing Everyday Manipulation Tasks in Kitchen Environments , In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2011. [bib] [pdf] |
Contracting Curve Density Algorithm for Applications in Personal Robotics , In 11th IEEE-RAS International Conference on Humanoid Robots, 2011. [bib] [pdf] |
KNOWROB-MAP -- Knowledge-Linked Semantic Object Maps , In 10th IEEE-RAS International Conference on Humanoid Robots, 2010. [bib] [pdf] |
Automatic Layered 3D Reconstruction of Simplified Object Models for Grasping , In Joint 41st International Symposium on Robotics (ISR) and 6th German Conference on Robotics (ROBOTIK), 2010. [bib] [pdf] |
General 3D Modelling of Novel Objects from a Single View , In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2010. [bib] [pdf] |
Hierarchical Object Geometric Categorization and Appearance Classification for Mobile Manipulation , In Proceedings of the IEEE-RAS International Conference on Humanoid Robots, 2010. [bib] [pdf] |
Perception and Probabilistic Anchoring for Dynamic World State Logging , In 10th IEEE-RAS International Conference on Humanoid Robots, 2010. [bib] [pdf] |
Real-time CAD Model Matching for Mobile Manipulation and Grasping , In 9th IEEE-RAS International Conference on Humanoid Robots, 2009. [bib] [pdf] |
Model-based and Learned Semantic Object Labeling in 3D Point Cloud Maps of Kitchen Environments , In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2009. [bib] [pdf] |
Fast Geometric Point Labeling using Conditional Random Fields , In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2009. [bib] [pdf] |
Real-time Perception-Guided Motion Planning for a Personal Robot , In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2009. [bib] |
Close-range Scene Segmentation and Reconstruction of 3D Point Cloud Maps for Mobile Manipulation in Human Environments , In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2009. [bib] [pdf] |
Fast Point Feature Histograms (FPFH) for 3D Registration , In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Kobe, Japan, May 12-17, 2009. [bib] |
Laser-based Perception for Door and Handle Identification , In Proceedings of the International Conference on Advanced Robotics (ICAR), 2009.(Best Paper Award) [bib] |
Perception for Mobile Manipulation and Grasping using Active Stereo , In 9th IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2009. [bib] |
On Fast Surface Reconstruction Methods for Large and Noisy Point Clouds , In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2009. [bib] [pdf] |
Leaving Flatland: Toward Real-Time 3D Navigation , In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Kobe, Japan, May 12-17, 2009. [bib] |
Probabilistic Categorization of Kitchen Objects in Table Settings with a Composite Sensor , In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2009. [bib] [pdf] |
Partial View Modeling and Validation in 3D Laser Scans for Grasping , In 9th IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2009. [bib] [pdf] |
Fault-tolerant 3D Mapping with Application to an Orchard Robot , In Proceedings of the 7th IFAC International Symposium on Fault Detection, Supervision and Safety of Technical Processes (SAFEPROCESS'09), Barcelona, Spain, June 30 - July 3, 2009. [bib] |
The Assistive Kitchen -- A Demonstration Scenario for Cognitive Technical Systems , In IEEE 17th International Symposium on Robot and Human Interactive Communication (RO-MAN), Muenchen, Germany, 2008.(Invited paper.) [bib] [pdf] |
Action Recognition in Intelligent Environments using Point Cloud Features Extracted from Silhouette Sequences , In IEEE 17th International Symposium on Robot and Human Interactive Communication (RO-MAN), Muenchen, Germany, 2008. [bib] [pdf] |
Functional Object Mapping of Kitchen Environments , In Proceedings of the 21st IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Nice, France, September 22-26, 2008. [bib] [pdf] |
Aligning Point Cloud Views using Persistent Feature Histograms , In Proceedings of the 21st IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Nice, France, September 22-26, 2008. [bib] [pdf] |
Leaving Flatland: Realtime 3D Stereo Semantic Reconstruction , In Proceedings of the International Conference on Intelligent Robotics and Applications (ICIRA) 2008, October 15-17, Wuhan, China, 2008. [bib] |
Learning Informative Point Classes for the Acquisition of Object Model Maps , In Proceedings of the 10th International Conference on Control, Automation, Robotics and Vision (ICARCV), Hanoi, Vietnam, December 17-20, 2008. [bib] [pdf] |
Persistent Point Feature Histograms for 3D Point Clouds , In Proceedings of the 10th International Conference on Intelligent Autonomous Systems (IAS-10), Baden-Baden, Germany, 2008. [bib] [pdf] |
Towards 3D Object Maps for Autonomous Household Robots , In Proceedings of the 20th IEEE International Conference on Intelligent Robots and Systems (IROS), 2007. [bib] [pdf] |
Furniture Classification using WWW CAD Models , In IROS’12 Workshop on Active Semantic Perception (ASP’12), 2012. [bib] [pdf] |
Elaborative Evaluation of RGB-D based Point Cloud Registration for Personal Robots , In ICRA 2012 Workshop on Semantic Perception and Mapping for Knowledge-enabled Service Robotics, 2012. [bib] [pdf] |
Segmentation of Cluttered Scenes through Interactive Perception , In ICRA 2012 Workshop on Semantic Perception and Mapping for Knowledge-enabled Service Robotics, 2012. [bib] [pdf] |
Segmentation of Textured and Textureless Objects through Interactive Perception , In RSS Workshop on Robots in Clutter: Manipulation, Perception and Navigation in Human Environments, 2012. [bib] [pdf] |
Efficient Surface and Feature Estimation in RGBD , In RGB-D Workshop on 3D Perception in Robotics at the European Robotics (euRobotics) Forum, 2011. [bib] [pdf] |
Voxelized Shape and Color Histograms for RGB-D , In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Workshop on Active Semantic Perception and Object Search in the Real World, 2011. [bib] [pdf] |
Semantic Object Search in Large-scale Indoor Environments , In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Workshop on Active Semantic Perception and Object Search in the Real World, 2011. [bib] [pdf] |
Inferring Generalized Pick-and-Place Tasks from Pointing Gestures , In IEEE International Conference on Robotics and Automation (ICRA), Workshop on Semantic Perception, Mapping and Exploration, 2011. [bib] [pdf] |
Robotic Roommates Making Pancakes - Look Into Perception-Manipulation Loop , In IEEE International Conference on Robotics and Automation (ICRA), Workshop on Mobile Manipulation: Integrating Perception and Manipulation, 2011. [bib] [pdf] |
Advantages of Spatial-temporal Object Maps for Service Robotics , In IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO), 2011. [bib] [pdf] |
Making Sense of 3D Data , In Robotics: Science and Systems Conference (RSS), Workshop on Strategies and Evaluation for Mobile Manipulation in Household Environments, 2010. [bib] [pdf] |
Detecting and Segmenting Objects for Mobile Manipulation , In Proceedings of IEEE Workshop on Search in 3D and Video (S3DV), held in conjunction with the 12th IEEE International Conference on Computer Vision (ICCV), 2009. [bib] |
Reconstruction and Verification of 3D Object Models for Grasping , In Proceedings of the 14th International Symposium on Robotics Research (ISRR09), 2009. [bib] [pdf] |
CoP-Man -- Perception for Mobile Pick-and-Place in Human Living Environments , In Proceedings of the 22nd IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Workshop on Semantic Perception for Mobile Manipulation, 2009.(Invited paper.) [bib] [pdf] |
Interpretation of Urban Scenes based on Geometric Features , In Proceedings of the 21st IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Workshop on 3D Mapping, Nice, France, September 26, 2008.(Invited paper) [bib] [pdf] |
Realtime Extended 3D Reconstruction from Stereo for Navigation , In Proceedings of the 21st IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Workshop on 3D Mapping, Nice, France, September 26, 2008.(Invited paper) [bib] |
Autonomous Mapping of Kitchen Environments and Applications , In Proceedings of the 1st International Workshop on Cognition for Technical Systems, Munich, Germany, 6-8 October, 2008. [bib] [pdf] |
Creating and using RoboEarth object models , IEEE International Conference on Robotics and Automation (ICRA), 2012. [bib] |
A Robot that Shops for and Stores Groceries , AAAI Video Competition (AIVC 2011), 2011. [bib] |