23 citations · 89 across the 33 of their papers we have counts for
18 papers · 1 filter
Comparison and Evaluation of 2D and 3D Range Sensors
Qingwen Xu, Sören Schwertfeger
For mobile robots range sensors are important to perceive the environment. Sensors that can measure in a 3D volume are especially significant for outdoor robotics, because this env…
Room Detection for Topological Maps
Sören Schwertfeger, Tianyan Yu
Mapping is an important part of many robotic applications. In order to measure the performance of the mapping process we have to measure the quality of its result: the map. The map…
Evaluation of Smartphone IMUs for Small Mobile Search and Rescue Robots
Xiangyang Zhi, Qingwen Xu, Sören Schwertfeger
Small mobile robots are an important class of Search and Rescue Robots. Integrating all required components into such small robots is a difficult engineering task. Smartphones have…
Fast 2D Map Matching Based on Area Graphs
Jiawei Hou, Haofei Kuang, Sören Schwertfeger
We present a novel area matching algorithm for merging two different 2D grid maps. There are many approaches to address this problem, nevertheless, most previous work is built on s…
Fine-grained Qualitative Spatial Reasoning about Point Positions
Sören Schwertfeger
The ability to persist in the spacial environment is, not only in the robotic context, an essential feature. Positional knowledge is one of the most important aspects of space and…
Furniture Free Mapping using 3D Lidars
Zhenpeng He, Jiawei Hou, Sören Schwertfeger
Mobile robots depend on maps for localization, planning, and other applications. In indoor scenarios, there is often lots of clutter present, such as chairs, tables, other furnitur…
Pose Estimation for Omni-directional Cameras using Sinusoid Fitting
Haofei Kuang, Qingwen Xu, Xiaoling Long +1
We propose a novel pose estimation method for geometric vision of omni-directional cameras. On the basis of the regularity of the pixel movement after camera pose changes, we formu…
Area Graph: Generation of Topological Maps using the Voronoi Diagram
Jiawei Hou, Yijun Yuan, Sören Schwertfeger
Representing a scanned map of the real environment as a topological structure is an important research topic in robotics. Since topological representations of maps save a huge amou…
Mapping with Reflection -- Detection and Utilization of Reflection in 3D Lidar Scans
Xiting Zhao, Zhijie Yang, Sören Schwertfeger
This paper presents a method to detect reflection of 3D light detection and ranging (Lidar) scans and uses it to classify the points and also map objects outside the line of sight.…
Improving CNN-based Planar Object Detection with Geometric Prior Knowledge
Jianxiong Cai, Jiawei Hou, Yiren Lu +3
In this paper, we focus on the question: how might mobile robots take advantage of affordable RGB-D sensors for object detection? Although current CNN-based object detectors have a…
Path Planning Tolerant to Degraded Locomotion Conditions
Xiaoling Long, Sören Schwertfeger
Mobile robots, especially those driving outdoors and in unstructured terrain, sometimes suffer from failures and errors in locomotion, like unevenly pressurized or flat tires, loos…
Configuration-Space Flipper Planning on 3D Terrain
Yijun Yuan, Qingwen Xu, Sören Schwertfeger
Flippers are essential components of tracked robot locomotion systems for unstructured terrain, especially within a rescue scenario. Achieving full and semi-autonomy for such rescu…
Adaptive Navigation Scheme for Optimal Deep-Sea Localization Using Multimodal Perception Cues
Arturo Gomez Chavez, Qingwen Xu, Christian A. Mueller +2
Underwater robot interventions require a high level of safety and reliability. A major challenge to address is a robust and accurate acquisition of localization estimates, as it is…
Depth Estimation on Underwater Omni-directional Images Using a Deep Neural Network
Haofei Kuang, Qingwen Xu, Sören Schwertfeger
In this work, we exploit a depth estimation Fully Convolutional Residual Neural Network (FCRN) for in-air perspective images to estimate the depth of underwater perspective and omn…
Configuration-Space Flipper Planning for Rescue Robots
Yijun Yuan, Letong Wang, Sören Schwertfeger
For rescue robots, flipper endows the robot with additional ability to pass through various terrain. Autonomous motion becomes more important. In recent work autonomy is done by ei…
Heterogeneous Multi-sensor Calibration based on Graph Optimization
Hongyu Chen, Sören Schwertfeger
Many robotics and mapping systems contain multiple sensors to perceive the environment. Extrinsic parameter calibration, the identification of the position and rotation transform b…
Towards Generation and Evaluation of Comprehensive Mapping Robot Datasets
Hongyu Chen, Xiting Zhao, Jianwen Luo +8
This paper presents a fully hardware synchronized mapping robot with support for a hardware synchronized external tracking system, for super-precise timing and localization. We als…
Learning Autonomous Exploration and Mapping with Semantic Vision
Xiangyang Zhi, Xuming He, Sören Schwertfeger
We address the problem of autonomous exploration and mapping for a mobile robot using visual inputs. Exploration and mapping is a well-known and key problem in robotics, the goal o…