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Here are the abstracts of my publications.
Check out my top 10 publications!
A list of my major publications sorted by subject can be found here.
There is also a list of my co-authors and a bibtex file.
In Press
...
-
Dorit Borrmann, Jan Elseberg, Prashant Narayan K.C.,
Andreas Nüchter.
Ein Punkt pro Kubikmeter – präzise Registrierung von
terrestrischen Laserscans mit Scanmatching. in
Photogrammetrie Laserscanning Optische 3D-Messtechnik, Beiträge
der Oldenburger 3D-Tage 2012, Jade Hochschule, Wichmann Verlag,
February 2012 (accepted).
-
Andreas Nüchter, HamidReza Houshair, Dorit
Borrmann, and Jan Elseberg.
Projektionen für die Scanregistrierung mit Hilfe von
Bildmerkmalen. in Photogrammetrie Laserscanning Optische
3D-Messtechnik, Beiträge der Oldenburger 3D-Tage 2012,
Jade Hochschule, Wichmann Verlag, February 2012 (accepted).
Jan Elseberg, Dorit Borrmann, and Andreas
Nüchter. Eine Milliarde 3D-Punkte mit
Standardhardware verarbeiten – Processing One Billion 3D
Points on a Standard Computer. Allgemeine
Vermessungs-Nachrichten (AVN), AVN-Themenheft mit
Beiträgen aus den 3D-Tagen Oldenburg, 2011 (accepted).
2011
Jochen Sprickerhof, Andreas Nüchter, Kai
Lingemann, and Joachim Hertzberg. A Heuristic Loop Closing
Technique for Large-Scale 6D SLAM. Automatika - Journal for
Control, Measurement, Electronics, Computing and Communications,
Special Issue with selected papers from the European Conference on
Mobile Robots 2009, Volume 52, Number 3, 2011.
[Get
Paper (PDF)].
Flavia Grosan, Alexandru Tandrau, and Andreas
Nüchter Localizing Google SketchUp Models in Outdoor 3D
Scans. In Proceedings of the XXIII International Symposium on
Information, Communication and Automation Technologies (ICAT '11),
IEEE Xplore, ISBN 978-1-4577-0746-9, Sarajevo, Bosnia, October 2011,
[Get
Paper (PDF)] [Get
Video] [Get
Video].
Jan Elseberg, Dorit Borrmann, and Andreas
Nüchter Full Wave Analysis in 3D Laser Scans for Vegetation
Detection in Urban Environments. In Proceedings of the XXIII
International Symposium on Information, Communication and Automation
Technologies (ICAT '11), IEEE Xplore, ISBN 978-1-4577-0746-9,
Sarajevo, Bosnia, October 2011,
[Get
Paper (PDF)].
Jan Elseberg, Dorit Borrmann, and Andreas
Nüchter Efficient Processing of Large 3D Point Clouds.
In Proceedings of the XXIII International Symposium on Information,
Communication and Automation Technologies (ICAT '11), IEEE Xplore,
ISBN 978-1-4577-0746-9, Sarajevo, Bosnia, October 2011,
[Get
Paper (PDF)].
Andreas Nüchter, Seyedshams Feyzabadi,
Deyuan Qiu, and Stefan May. SLAM à la carte - GPGPU for
Globally Consistent Scan Matching. In Proceedings of the 4th
European Conference on Mobile Robots (ECMR '11), Örebro, Sweden,
September 2011
[Get
Paper (PDF)].
-
Andreas Nüchter, Stanislav Gutev, Dorit
Borrmann, and Jan Elseberg.
Skyline-based Registration of 3D Laser Scans.
Proceedings of the Joint ISPRS workshop on 3D city modelling &
applications and the 6th 3D GeoInfo (3DCMA '11), The Chinese
Academic Journal (CD ROM version) CN 11-9251/G or ISSN 1671-6787,
Wuhan, China, 2011,
[Get
Paper (PDF)].
-
Andreas Nüchter, Stanislav Gutev, Dorit Borrmann, and Jan Elseberg.
Skyline-based Registration of 3D Laser Scans.
Journal of Geo-spatial Information Science, Special Issue with
selected papers from the 3D City Modeling and Applications
Workshop. Volume 14, Number 2, pages 85-90, ISSN 1009-5020, Springer Verlag, June
2011,
[Get
Paper]
[Springer
Link].
Dorit Borrmann, Jan Elseberg, Kai Lingemann, and Andreas Nüchter.
The 3D Hough Transform for Plane Detection in Point Clouds - A
Review and A new Accumulator Design, Journal 3D Research,
ISSN 2092-6731, Springer, Volume 2, Number 2, March 2011,
[Get
Paper (PDF)] [Springer Link].
-
Jan Elseberg, Dorit Borrmann, and Andreas Nüchter.
Eine
effiziente Octree-Datenstruktur für das Verarbeiten von großen
3D-Punktwolken.
in Photogrammetrie
Laserscanning Optische 3D-Messtechnik, Beiträge der Oldenburger
3D-Tage 2011, Fachhochschule Oldenburg/Ostfr./Whv., ISBN
978-3-87907-506-5, pages 72-79, Wichmann Verlag, February 2011.
2010
Stanislav Serebryakov, Lev Stankewich, and
Andreas Nüchter. Визуальная
навигация
с
времяпролетной
камерой (Visual SLAM with Time-of-Flight Camera). Научно-технический
ОПТИЧЕСКИЙ
ЖУРНАЛ (Journal of Optical
Technology). Volume 77, Issue 10, ISSN 0030-4042, pages 51-55,
November 2010,
Elena Digor, Andreas Birk, and Andreas Nüchter
Exploration Strategies for a Robot with a Continously Rotating 3D
Scanner, In Proceedings of the Second International Conference
on Simulation, Modeling and Programming for Autonomous Robots (SIMPAR
'10), Lecture Notes in Computer Science, Volume 6472/2010, ISBN-13
978-3-642-17318-9, pages 374-386, Darmstadt, Germany, November 2010,
[Get
Paper]
[Get
Video 1 (MPEG)]
[Get
Video 1 (MPEG)].
Jan Elseberg, Dorit Borrmann, Andreas
Nüchter, and Kai Lingemann. Non-Rigid Registration and
Rectification of 3D Laser Scans, In Proceedings of the IEEE/RSJ
International Conference on Intelligent Robots and Systems (IROS
'10), ISBN 978-1-4244-6676-4, pages 1546-1552, Taipei, Taiwan,
October 2010,
[Get
Paper].
Kaustubh Pathak, Dorit Borrmann, Jan Elseberg,
Narunas Vaskevicius, Andreas Birk, Andreas Nüchter. Evaluation
of the Robustness of Planar-Patches based 3D-Registration using
Marker-based Ground-Truth in an Outdoor Urban Scenario,
In Proceedings of the IEEE/RSJ International Conference on
Intelligent Robots and Systems (IROS '10), ISBN 978-1-4244-6676-4,
pages 5725-5730, Taipei, Taiwan, October 2010,
[Get
Paper].
Dorit Borrmann, Jan Elseberg, Shaan S. Rauniyar,
and Andreas Nüchter. Lifelong 3D Mapping – Monitoring
with a 3D Scanner, In Proceedings of the IEEE/RSJ IROS Workshop
on Robotics for Environmental Monitoring, Taipei, Taiwan, October
2010. [Get
Paper]. [Note: This workshop was canceled, but the
organizers decided to publish all reviewed and accepted papers
online. Please
use this link to visit
the workshop webpage.
Dorit Borrmann, Jan Elseberg, Kai Lingemann, and
Andreas Nüchter. A Data Structure for the 3D Hough Transform
for Plane Detection, in Proceedings of the 5th IFAC Symposium
on Intelligent Autonomous Vehicles (IAV '10), Lecce, Italy, September
2010, [Get
Paper]. Jan Wülfing, Joachim Hertzberg, Kai
Lingemann, Andreas Nüchter, Thomas Wiemann, and Stefan
Stiene. Towards Real Time Robot 6D Localization in a Polygonal
Indoor Map Based on 3D ToF Camera Data, in Proceedings of the
5th IFAC Symposium on Intelligent Autonomous Vehicles (IAV '10),
Lecce, Italy, September 2010,
[Get
Paper].
Joachim Hertzberg, Kai Lingemann, Christopher
Lörken, Andreas Nüchter, Stefan Stiene and Thomas Wiemann.
3D-Roboterkartenbau in Osnabrück, KI Künstliche
Intelligenz: Themenschwerpunk Simultaneous Localization and Mapping
(SLAM), Volume 24, Number 3, ISSN 0933-1875, September 2010
[Get
Paper (PDF)].
Andreas Nüchter, Jan Elseberg, Peter
Schneider, and Dietrich Paulus. Study of Parameterizations for the
Rigid Body Transformations of The Scan Registration Problem,
Journal Computer Vision and Image Understanding (CVIU),
Elsevier Science, Volume 114, Issue 8, pp. 963-980, ISSN 1077-3142,
August
2010. [Get
Paper (PDF)]
[Elsevier
Link with supplementary content].
Thomas Wiemann, Andreas Nüchter, Kai
Lingemann, Stefan Stiene and Joachim Hertzberg. Automatic
Construction of Polygonal Maps From Point Cloud Data,
in Proceedings of the International Workshop on Safty, Security and
Rescue Robotics (SSRR '10), Bremen, Germany, July 2010,
[Get
Paper].
Andreas Nüchter, Jan Elseberg, Peter
Schneider, and Dietrich Paulus. Linearization of Rotations for
Globally Consistent n-Scan Matching, in Proceedings of
the IEEE International Conference Robotics and Automation (ICRA
'10), ISBN 978-1-4244-5040-4, pages 1373-1379, Anchorage, Alaska,
May 2010,
[Get
Paper (PDF)].
Dorit Borrmann, Jan Elseberg, Kai Lingemann, and
Andreas Nüchter. Verbesserte Kartenqualität durch Thin
Plate Splines und Hough-Transformation. in Photogrammetrie
Laserscanning Optische 3D-Messtechnik, Beiträge der Oldenburger
3D-Tage 2010, Fachhochschule Oldenburg/Ostfr./Whv., ISBN
978-3-87907-494-5, pages 134-141, Wichmann Verlag, February 2010.
2009
Andreas Nüchter. 6D SLAM mit Global
Konsistentem Scanmatching, In Terrestrisches Laserscanning (TLS
2009) Beiträge zum 91. DVW-Seminar am 18. und 19. November in
Fulda, (invited paper), ISBN 978-3-89639-734-8, pages
69-92, Fulda, Germany, November 2009.
Martin Magnusson, Henrik Andreasson, Andreas
Nüchter, and Achim J. Lilienthal. Automatic Appearance-Based
Loop Detection from 3D Laser Data Using the Normal Distributions
Transform, Journal of Field Robotics (JFR), Special Issue on
Three-Dimensional Mapping, ISSN 1556-4959, Volume 26, Issue 11-12, November - December,
2009 [Get
Paper (PDF)].
Stefan May, David Dröschel, Dirk Holz, Stefan
Fuchs, Ezio Malis, Andreas Nüchter, and Joachim Hertzberg. 3D
Mapping with Time-of-Flight Cameras. Journal of Field Robotics
(JFR), Special Issue on Three-Dimensional Mapping, ISSN 1556-4959,
Volume 26, Issue 11-12, November - December,
2009 [Get
Paper (PDF)].
Deyuan Qiu, Stefan May, and Andreas
Nüchter. GPU-accelerated Nearest Neighbor Search for 3D
Registration. In Proceedings of the 7th International
Conference on Computer Vision Systems (ICVS '09). LNCS 5815,
Spinger ISBN 978-3-642-04666-7, pages 194-203, Lìege Belgium,
October 2009. [Get
Paper (PDF)]
Jochen Sprickerhof, Andreas Nüchter, Kai
Lingemann, Joachim Hertzberg. An Explicit Loop Closing Technique
for 6D SLAM, In Proceedings of the 4th European Conference on
Mobile Robots (ECMR '09), Mlini/Dubrovnic, Croatia, September
2009. [Get
Paper (PDF)] [Get Videos].
Stefan May, David Dröschel, Dirk Holz,
Stefan Fuchs, and Andreas Nüchter. Robust 3D-Mapping with
Time-of-Flight Cameras, In Proceedings of the IEEE/RSJ
International Conference on Intelligent Robots and Systems (IROS
'09), ISBN 978-1-4244-3804-4, St. Louis, MO, USA, October 2009.
[Get
Paper (PDF)]
Simone Frintrop, Andreas Nüchter, Kai
Pervölz, Hartmut Surmann, Sara Mitri, Joachim
Hertzberg. Attentive Classification, International Journal of
Applied Artificial Intelligence in Engineering Systems, ISSN 0975-3176, Vol. 1, Number
1, June
2009. [Get
Paper (PDF)]
Martin Magnusson, Henrik Andreasson, Andreas
Nüchter, Achim J. Lilienthal. Appearance-Based Place
Recognition from 3D Laser Data Using the Normal Distributions
Transform, in Proceedings of the IEEE International Conference
Robotics and Automation (ICRA '09), ISBN 987-1-4244-2789-5, pages
23 - 28, Kobe, Japan, May 2009
[Get
Paper (PDF)].
Martin Magnusson, Andreas Nüchter,
Christopher Lörken, Achim, J. Lilienthal, and Joachim Hertzberg.
Evaluation of 3D Registration Reliability and Speed – A Comparison
of ICP and NDT. In Proceedings of the IEEE International
Conference Robotics and Automation (ICRA '09), ISBN
987-1-4244-2789-5, pages 3907 - 3912, Kobe,
Japan, May 2009 [Get
Paper (PDF)].
Andreas Nüchter and Jan Elseberg.
Linearisierte Lösung der ICP-Fehlerfunktion für global
konsistentes Scanmatching. in Photogrammetrie Laserscanning
Optische 3D-Messtechnik, Beiträge der Oldenburger 3D-Tage
2009, Fachhochschule Oldenburg/Ostfr./Whv., ISBN
978-3-87907-478-5, Wichmann Verlag, pages 74 - 81, 2009.
Andreas Nüchter. Parallel and Cached Scan
Matching for Robotic 3D Mapping. Journal of Computing and
Information Technology Processing (eCIT), Special Issue on Advanced
Mobile Robotics, Volume 17, Number 1, ISSN 1330-1136, pages 51 - 65, March 2009
[Get Paper (PDF)]
[eCIT site].
Andreas Nüchter. 3D Robotic
Mapping. Springer Tracts in Advanced Robotics (STAR), ISBN
978-3540898832, 210 pages, Springer Verlag, [Springer
Link] [Get
Book].
2008
Andreas Nüchter and Joachim
Hertzberg. Towards Semantic Maps for Mobile Robots. Journal
of Robotics and Autonomous Systems (JRAS), Special Issue on Semantic
Knowledge in Robotics, Elsevier Science, Volume 56, Issue 11, ISSN 0921-8890, pages
915-926, 2008. [ScienceDirect Link]
[Get
Paper].
-
Martin Magnusson, Andreas Nüchter, Christopher
Lörken, Achim J. Lilienthal, and Joachim Hertzberg. 3D Mapping
the Kvarntorp Mine: A Field Experiment for Evaluation of 3D Scan
Matching Algorithms. In Proceedings of the Workshop on
3D-Mapping at the IEEE International Conference on Intelligent Robots
and Systems (IROS '08), Nice, France, September 2008.
Thomas Wiemann, Andreas Nüchter, Kai
Lingemann, Stefan Stiene, and Joachim Hertzberg. Surface
Reconstruction for 3D Robotic Mapping. In Proceedings of the
Workshop on 3D-Mapping at the IEEE International Conference on
Intelligent Robots and Systems (IROS '08), Nice, France, September
2008.
Andreas Nüchter, Kai Lingemann, and Joachim
Hertzberg. Evaluating a 3D Camera for RoboCup Rescue. In
Proceedings of the SICE Annual Conference 2008: International
Conference on Instrumentation, Control and Information Technology
(SICE '08), ISBN 978-4-907764-29-6, pages 2070 - 2075, Tokyo, Japan,
August, 2008.
Dorit Borrmann, Jan Elseberg, Kai Lingemann, Andreas
Nüchter, and Joachim Hertzberg. The Efficient Extension of
Globally Consistent Scan Matching to 6 DoF. In
Proceedings of the 4th International Symposium on 3D Data
Processing, Visualization and Transmission (3DPVT '08), Available
electronically as Tech Report GT-IC-08-05
from the Georgia Institute of Technology, Atlanta, GA, USA, pages
29-36, June 2008 [Get
Paper] [Get
Video] [Addendum].
Oliver Wulf, Andreas Nüchter, Joachim Hertzberg,
and Bernardo Wagner. Benchmarking Urban Six-Degree-of-Freedom
Simultaneous Localization and Mapping.
Journal of Field Robotics (JFR), Wiley & Son, ISSN
1556-4959, Volume 25, Issue 3, pages 148 - 163, March, 2008, [Get
Paper] [Get
Videos].
Joachim Hertzberg, Kai Lingemann, Christopher
Lörken, Andreas Nüchter, and Stefan Stiene. Does it help
a robot navigate to call navigability an affordance?. In
Towards Affordance-Based Robot Control. Proceedings of Dagstuhl
Seminar 06231, Dagstuhl Castle, Germany, June 5-9, 2006, Springer
(LNAI vol. 4760), ISBN 978-3-540-77914-8, pp. 16-26, 2008. [Get
Paper] [Springer
Link]
Dorit Borrmann, Jan Elseberg, Kai Lingemann, Andreas
Nüchter, and Joachim Hertzberg.
Globally consistent 3D mapping with scan matching. Journal
of Robotics and Autonomous Systems (JRAS), Elsevier Science,
Volume 56, Issue 2, ISSN 0921-8890, pages 130 - 142, February 2008, [ScienceDirect
Link] [Get
Paper] [Get
Videos] [Addendum].
Andreas Nüchter, Kai Lingemann, Dorit Bormann,
Jan Elseberg, and Jan Böhm. Global Konsistente 3D-Kartierung
mit Scanmatching. in Photogrammetrie Laserscanning Optische
3D-Messtechnik, Beiträge der Oldenburger 3D-Tage 2008,
Fachhochschule Oldenburg/Ostfr./Whv. ISBN 978-3-87907-463-1, Wichmann
Verlag, pages 194 - 201, February 2008.
2007
Oliver Wulf, Andreas Nüchter, Joachim Hertzberg,
and Bernardo Wagner. Ground Truth Evaluation of Large Urban 6D
SLAM. In
Proceedings of the IEEE/RSJ International Conference on Intelligent
Robots and Systems (IROS '07), pages 650 - 657, ISBN
1-4244-0912-8, San Diego, CA, USA, October / November, 2007 [Get
Paper]. [Get
Videos]
Andreas Nüchter, Kai Lingemann, Joachim
Hertzberg, and Hartmut Surmann,
6D SLAM - 3D Mapping Outdoor Environments
Journal of Field Robotics (JFR), Special Issue on Quantitative
Performance Evaluation of Robotic and Intelligent Systems, Wiley
& Son, ISSN 1556-4959, Volume 24, Issue 8-9, pages 699 - 722, August
- September, 2007, [Get
Paper].
Andreas Nüchter. Parallelization of Scan
Matching for Robotic 3D Mapping. In
Proceedings of the 3rd European Conference on Mobile Robots (ECMR
'07), Freiburg, Germany, September 2007, [Get Paper], [View Online Proceedings].
Andreas Bartel, Frank Meyer, Christopher Sinke,
Thomas Wiemann, Andreas Nüchter, Kai Lingemann, and Joachim
Hertzberg. Real-Time Outdoor Trail Detection on a Mobile Robot. In
Proceedings of the 13th IASTED International Conference on Robotics
and Applications, ISBN 978-0-88986-686-7, pages 477 - 482,
Würzburg, Germany, August 2007, [Get Paper
and Videos].
Andreas Nüchter, Kai Lingemann, and Joachim
Hertzberg. 6D SLAM with Cached k-d tree Search. In
Proceedings of the 13th IASTED International Conference on Robotics
and Applications, ISBN 978-0-88986-686-7, pages 181 - 186,
Würzburg, Germany, August 2007.
Rolf Lakaemper, Andreas Nüchter, Nagesh Adluru,
and Longin Jan Latecki. Performance of 6D LuM and FFS SLAM -
An Example for Comparison using Grid and Pose Based Evaluation
Methods. In
Proceedings of seventh workshop on Performance Metrics for
Intelligent Systems (PerMIS '07), Washington D.C., USA, August
2007, [Get
Paper (PDF)].
Andreas Nüchter, Kai Lingemann, and Joachim
Hertzberg. Cached k-d tree search for ICP algorithms. In
Proceedings of the 6th IEEE International Conference on Recent
Advances in 3D Digital Imaging and Modeling (3DIM '07), IEEE
Computer Society Press, ISBN 0-7695-2939-9, pages 419 - 426, Montreal,
Canada, August 2007, [Get
Paper (PDF)] [HTML
Version].
Giovanni Indiveri, Andreas Nüchter, and Kai
Lingemann. High Speed Differential Drive Mobile Robot Path
Following Control With Bounded Wheel Speed Commands, in
Proceedings of the IEEE International Conference Robotics and
Automation (ICRA '07), ISBN 1-4244-0602-1, pages 2202 - 2207,
Rome, Italy, April 2007, [Get
Paper (PDF)].
Stefan Stiene, Andreas Nüchter, Kai Lingemann, and Joachim
Hertzberg. An Experiment in Semantic Correction of Sensor Data,
(Poster) in Proceedings Workshop on Semantic Information in
Robotics at the IEEE International Conference Robotics and Automation
(ICRA '07), Rome, Italy, April 2007, [Get
Paper (PDF)].
Andreas Nüchter, Kai Lingemann and Joachim
Hertzberg. 6D SLAM with Kurt3D, Robotics Today, Society of
Manufacturing Engineers, First Quarter, Volume 20, Number 1, ISSN 0193-6913,
April, 2007, [Get
Paper (PDF)].
Johannes Steger, Robert Märtin, Kai Lingemann,
Andreas Nüchter, Joachim Hertzberg, and Peter
König. Laser range scans of natural scenes for the evaluation
of stereo- matching algorithms. Poster at ICVS Workshop From
Computational Cognitive Neuroscience to Computer Vision (CCNCV
'07) Bielefeld, Germany, March 2007.
Johannes Steger, Robert Märtin, Kai Lingemann,
Andreas Nüchter, Joachim Hertzberg, and Peter
König. Assessing stereo matching algorithms using ground-truth
disparity maps of natural scenes, (Poster), in Proceedings of
the 7th Meeting of the German Neuroscience Society / 31th
Göttingen Neurobiology Conference, Neuroforum 2007,
Göttingen, Germany, 2007.
Lars Kunze, Kai Lingemann, Andreas Nüchter, and
Joachim Hertzberg. Salient Visual Features to Help Close the Loop
in 6D SLAM, in Proceedings of the ICVS Workshop on
Computational Attention & Applications (WCAA '07), Bielefeld,
Germany, ISBN 978-3-00-020933-8, March 2007, [Get
Paper (PDF)].
Andreas Nüchter. Algorithmen zur
Erstellung virtueller 3D-Welten mit mobilen Robotern, in
Photogrammetrie Laserscanning Optische 3D-Messtechnik, Beiträge der
Oldenburger 3D-Tage 2007, Fachhochschule Oldenburg/Ostfr./Whv,
ISBN 978-3-87907-447-1, Wichmann Verlag, pages 164 - 171, February
2007.
2006
Andreas Nüchter. Semantische
dreidimensionale Karten für autonome mobile Roboter,
Dissertation (PhD thesis), University of Bonn, September 2006, also
appeared as DISKI 303, ISBN 3-89838-303-2, Akademische
Verlagsgesellschaft Aka GmbH, Berlin, Germany.
Andreas Nüchter, Kai Lingemann and Oliver
Wulf (Eds.). Robotic 3D Environment Cognition, Workshop at the
International Conference Spatial Cognition, Bremen, Germany 2006, [Get
Workshop Proceedings (PDF)].
Andreas Nüchter, Kai Lingemann and Joachim
Hertzberg. 6D SLAM with Kurt3D, in Robotic 3D Environment
Cognition, Workshop at the International Conference Spatial Cognition,
Bremen, Germany 2006. [Get
Paper (PDF)]
Andreas Nüchter, Kai Lingemann, Joachim
Hertzberg, and Hartmut Surmann. 6D SLAM – Mapping Outdoor
Environments, in Proceedings of the International Workshop on
Safty, Security and Rescue Robotics (SSRR '06), (CDROM Proceedings),
Gaithersburg, Maryland, USA, August 2006,
Kai Lingemann, Andreas Nüchter, Joachim
Hertzberg, Oliver Wulf, Bernardo Wagner, Kai Pervölz, Hartmut
Surmann, and Thomas Christaller. RoboCupRescue2006 – Robot League,
Deutschland1 (Germany), in Team Description Paper, Rescue Robot
League Competition, (CDROM Proceedings), Bremen, Germany, June
2006, [Get
Paper (PDF)].
Sven Albrecht, Joachim Hertzberg, Kai Lingemann,
Andreas Nüchter, Jochen Sprickerhof, Stefan Stiene. Device
Level Simulation of Kurt3D Rescue Robots, in Third
International Workshop on Synthetic Simulation and Robotics to
Mitigate Earthquake Disaster (SRMED 2006). CDROM Proceedings, June
2006 [Get
Paper (PDF)] [Get
Paper (HTML)].
Stefan Stiene, Kai Lingemann, Andreas Nüchter, and Joachim
Hertzberg.
Contour-based Object Detection in Range Images, in
Proceedings of the Third International Symposium on 3D Data
Processing, Visualization and Transmission (3DPVT '06), CDROM Proceedings, June
2006. [Get
Paper (PDF)] Andreas Nüchter, Kai Lingemann, and Joachim
Hertzberg.
Extracting Drivable Surfaces in Outdoor 6D SLAM, in
Proceedings of the 37nd International Symposium on Robotics (ISR
'06) and 4th German Conference Robotik 2006, ISBN 3-18-091956-6, Munich, Germany, 2006. [Get
Paper (PDF)] [Get
Paper (HTML)] [Get
Surface Animation (DivX)] [Get
Marching Cubes Representation (DivX)]
Andreas Nüchter, Kai Lingemann, Joachim
Hertzberg, Oliver Wulf, Bernardo Wagner, Kai Pervölz, Hartmut
Surmann, Thomas Christaller.
The RoboCup Rescue Team Deutschland1,
KI – Künstliche Intelligenz No. 2, pp. 24 - 29, ISSN
0933-1875, May 2006 [Get
Paper (PDF)].
Andreas Nüchter, Kai Lingemann, and Joachim Hertzberg.
Kurt3D – A Mobile Robot for 3D Mapping of
Environments, ELROB Technical Paper, Hammelburg, Germany, May 2006. [Get
Technical Paper (PDF)] [Get
Team Information (PDF)] [Get
Vehicle Specification Sheet (PDF)] [Get
Team Roster (PDF)]. Sandor P. Fekete, Rolf Klein, and Andreas
Nüchter. Online searching with an autonomous robot, in
Computational Geometry: Theory and Applications (CGTA) ,
Elsevier Science, Volume 34, Issue 2, pp. 102-115, ISSN 0925-7721, May
2006 [Get
Paper (PDF)].
2005
-
Kai Lingemann, Hartmut Surmann, Andreas Nüchter, and Joachim Hertzberg.
Verfahren zur Ermittlung der Position und Orientierung eines
navigierenden Systems. Offenlegungsschrift DE 10 2004 015 111 A1
2005.10.20, Deutsches Patentamt. Offenlegungstag 20.10.2005 [Get Paper] [European
Patent office]
Hartmut Surmann, Kai Pervölz, Andreas
Nüchter, Kai Lingemann, Joachim Hertzberg, and Matthias
Hennig. Simultaneous Mapping and Localization of Rescue
Environments in it- Information Technology 47 (2005) 5,
pages 282 - 291, Oldenbourg press, ISSN 1611-2776, October 2005. (Note: The paper is
an extended version of the SSRR 2005 best paper awarded paper "Mapping
of Rescue Environments with Kurt3D") Simone Frintrop, Erich Rome, Andreas
Nüchter, and Hartmut Surmann, A Bimodal Laser-Based Attention
System. Journal Computer Vision and Image Understanding
(CVIU), Special Issue on Attention and Performance in Computer
Vision, Elsevier Science, 100(1-2):124-151, ISSN 1077-3142, October
/ November 2005. Kai Lingemann, Andreas Nüchter, Joachim
Hertzberg, and Hartmut Surmann.
About the Control of High Speed Mobile Indoor Robots, in
Proceedings of the Second European Conference on Mobile Robotics
(ECMR '05), ISBN 88-89177-187, pages 218 - 223, Ancona, Italy,
September 2005. [Get
Paper and Video] Joachim Hertzberg, Kai Lingemann, and Andreas Nüchter.
USARSIM – Game-Engines in der Robotik-Lehre, in
A. B. Cremers et al. (eds.): Informatik 2005 – Informatik LIVE,
vol.1 (Beiträge der 35. Jahrestagung der Gesellschaft für
Informatik, Bonn). ISBN 3-88579-396-2, pages
158-162 Gesellschaft für Informatik, Bonn, Germany, September 2005. [Get
Paper (PDF)]. Andreas Nüchter, Kai Lingemann, Joachim
Hertzberg, and Hartmut Surmann.
Heuristic-Based Laser Scan Matching for Outdoor 6D SLAM, in
KI 2005: Advances in Artificial Intelligence. 28th Annual German
Conference on AI, Proceedings. Springer (Berlin) LNAI vol. 3698,
ISBN 3-540-28761-2, pages 304-319. Koblenz, Germany, September
2005. [Get
Paper and Video] Andreas Nüchter, Kai Lingemann, Joachim
Hertzberg, and Hartmut Surmann.
Accurate Object Localization in 3D Laser Range Scans, in
Proceedings of the 12th International Conference on Advanced
Robotics (ICAR '05), ISBN 0-7803-9178-0, pages 665 - 672, Seattle, USA, July 2005, [Get
Paper (PDF)] [Get
Paper (HTML)]. Andreas Nüchter, Kai Lingemann, Joachim
Hertzberg, and Hartmut Surmann.
6D SLAM with Approximate Data Association, in
Proceedings of the 12th International Conference on Advanced
Robotics (ICAR '05), ISBN 0-7803-9178-0, pages 242 - 249, Seattle, USA, July 2005, [Get
Paper (PDF)] [Get
Paper (HTML)]. Andreas Nüchter, Oliver Wulf, Kai
Lingemann, Joachim Hertzberg, Bernardo Wagner, and Hartmut Surmann,
3D Mapping with Semantic Knowledge, in
Proceedings of the RoboCup International Symposium 2005, Osaka,
Japan, July 2005, [Get
Paper (PDF)] [Get
Paper (HTML)]. Hartmut Surmann, Kai Lingemann, Andreas
Nüchter, Matthias Hennig, Kai Pervölz, Oliver Wulf, Joachim
Hertzberg, Bernardo Wagner, and Thomas Christaller. RoboCupRescue -
Robot League Team, Team Deutschland1 (Germany) Team Description
Paper, Rescue Robot League Competition, (CDROM Proceedings) (RoboCup
2005), Osaka, Japan, July 2005, (6th place), [Get
Paper (PDF)].
Andreas Nüchter, Kai Lingemann, Joachim
Hertzberg, Hartmut Surmann, Kai Pervölz, Matthias Hennig,
K. R. Tiruchinapalli, Rainer Worst, and Thomas Christaller,
Mapping of Rescue Environments with Kurt3D, in
Proceedings of the International Workshop on Safty, Security and
Rescue Robotics (SSRR '05), ISBN 0-7803-8946-8, pages 158 - 163,
Kobe, Japan, June 2005, (best paper award) [Get
Paper (PDF)]. Kai Lingemann, Andreas Nüchter, Joachim Hertzberg,
and Hartmut Surmann. High-Speed Laser Localization for Mobile Robots,
Journal Robotics and Autonomous Systems (JRAS), Elsevier
Science, 51(4):275-296, 2005 [ScienceDirect
link] [Get
Paper (PDF)]. Sara Mitri, Simone Frintrop, Kai Pervölz,
Hartmut Surmann, and Andreas Nüchter. Robust Object Detection at
Regions of Interest with an Application in Ball Recognition, in
Proceedings IEEE 2005 International Conference Robotics and Automation (ICRA '05),
ISBN 0-7803-8915-8, pages 126 - 131,
Barcelona, Spain, April 2005, [Get
Paper (PDF)] [Get
Paper (HTML)].
2004
Simone Frintrop, Andreas Nüchter, Hartmut
Surmann, and Joachim Hertzberg. Saliency-based Object Recognition
in 3D Data, in Proceedings of the IEEE/RSJ International
Conference on Intelligent Robots and Systems (IROS '04), ISBN
0-7803-8464-4, pages 2167 - 2172, Sendai, Japan, September 2004. [Get
Paper (PDF)] Kai Lingemann, Hartmut Surmann, Andreas
Nüchter, and Joachim Hertzberg. Indoor and Outdoor
Localization for Fast Mobile Robots, in Proceedings of the
IEEE/RSJ International Conference on Intelligent Robots and Systems
(IROS '04), ISBN 0-7803-8464-4, pages 2185 - 2190, Sendai, Japan,
September 2004. [Get
Paper (PDF)] Sara Mitri, Kai Pervölz, Hartmut Surmann, and
Andreas Nüchter. Fast Color-Independent Ball Detection for
Mobile Robots, in Proceedings of the IEEE International
Conference Mechatronics and Robotics 2004 (MechRob '04), ISBN
3-938153-50-X, pages 900 - 905, Aachen, Germany, September 2004. [Get
Paper (PDF)] [Get
Paper (HTML)] Sandor Fekete, Rolf Klein, and Andreas
Nüchter. Online Searching with an Autononmous Robot, in
Algorithmic Foundations of Robotics VI, STAR 17 (Proccedings of the
6th International Workshop on the Algorithmic Foundations of Robotics
(WAFR '04)), Springer Tracts in Advanced Robotics, Volume 17, ISBN
3-540-25728-4, pages 139 - 154, Zeist/Utrecht, The Netherlands, July
2004 (2005), [Get
Paper and Video] Andreas Nüchter, Hartmut Surmann, Kai
Lingemann, and Joachim Hertzberg. 6D SLAM - Preliminary Report on
closing the loop in Six Dimensions, in Proceedings of the 5th
IFAC Symposium on Intelligent Autonomous Vehicles (IAV '04),
Elsevier, ISBN 008-044237-4, Lissabon, Portugal, June 2004 (2005), [Get Paper and
Video]. Hartmut Surmann, Rainer Worst, Matthias Hennig,
Kai Lingemann, Andreas Nüchter, Kai Pervoelz, Kiran Raj
Tiruchinapalli, Thomas Christaller, and Joachim Hertzberg. RoboCup
Rescue - Robot League Team KURT3D, Germany, Team Description Paper, Rescue Robot League
Competition (CDROM Proceedings RoboCup 2004), Portugal, July 2004, (vice
world champion), [Get Paper]. Sandor Fekete, Rolf Klein, and Andreas
Nüchter. Searching with an Autononmous Robot, in
Proccedings of the 20th ACM Annual Symposium on Computational
Geometry (SoCG '04), pages 449 - 450, ACM Press, ISBN 1-58113-885-7, New
York, USA, June 2004, [Get
Abstract and Video]. Kai Pervölz, Andreas Nüchter, Hartmut
Surmann, and Joachim Hertzberg. Automatic Reconstruction of
Colored 3D Models in Proceedings of Robotik 2004,
VDI-Berichte 1841, pages 215 - 222, Munich, Germany, ISBN 3-18-091841-1, June
2004, [Get
Paper (PDF)] [HTML
version]. Simone Frintrop, Andreas Nüchter, and
Hartmut Surmann. Visual Attention for Object Recognition in
Spatial 3D Data, in: Proceedings of 2nd International Workshop
on Attention and Performance in Computational Vision (WAPCV '04),
Paletta, L., Tsotsos, J.K., Rome, E., and Humphreys, G. (Eds),
ISBN 3-540-24421-2, Revised Selected Papers
Series: Lecture Notes in Computer Science, Volume 3368. Conference: Prague, Czech
Republic, May 15, 2004, [Get
Paper (PDF)]. Andreas Nüchter, Hartmut Surmann, Kai
Lingemann, Joachim Hertzberg, and Sebastian Thrun. 6D SLAM with
Application in Autonomous Mine Mapping, in Proceedings IEEE
2004 International Conference Robotics and Automation (ICRA '04),
New Orleans, USA, Omnipress, ISBN 0-7803-8233-1, pages 1998 - 2003,
April 2004, [Get
Paper (PDF)] [HTML
version] [Get
Video]. Dominik Giel, Susanne Frey, Andrea Thelen, Jens
Bongartz, Peter Hering, Andreas Nüchter, Hartmut Surmann, Kai
Lingemann, and Joachim Hertzberg. Ultra-fast holographic recording
and automatic 3D scan matching of living human faces, in
PERSPECTIVE IN IMAGE-GUIDED SURGERY, Proceedings of the Scientific
Workshop Medical Robotics, Navigation and Visualization (MRNV
'04), World Scientific, ISBN 981-238-872-9, Book of Abstracts:
ISBN 3-9807690-5-4 (Kreative Konzepte, Remagen), Remagen, Germany,
March 2004 [Get
Paper (PDF)] [HTML
version] Simone Frintrop, Erich Rome, Andreas
Nüchter, and Hartmut Surmann, Focussing Object Recognition on
Regions of Interest, in Proceedings of the 7. Tübingen
Perception Conference (TWK '04), H. Bülthoff, H.A. Mallot,
R. Ulrich, F.A. Wichmann (eds), page 67, Tübingen, Germany,
February, 2004. Andreas Nüchter, Hartmut Surmann, and
Joachim Hertzberg. Automatic Classification of Objects in 3D Laser
Range Scans, in Proceedings of the 8th Conference on
Intelligent Autonomous Systems (IAS '04), IOS Press, ISBN
1-58603-414-6, pages 963 - 970, Amsterdam, The Netherlands, March 2004,
[Get
Paper (PDF)] [HTML
version].
2003
Andreas Nüchter. Schnelle Visualisierung
von Radialen 3D-Laserscans in Proceedings of the
5. Fachwissenschaftlicher Informatikkongress - Informatiktage
2003, ISBN 3-920560-21-3, pages 243 - 246, Bad Schussenried, Germany, November 2003 (2004).
Hartmut Surmann, Andreas Nüchter, and
Joachim Hertzberg. An autonomous mobile robot with a 3D laser
range finder for 3D exploration and digitalization of indoor
environments, Journal Robotics and Autonomous Systems (JRAS),
Elsevier Science, Volume 45,
Issue 3-4, ISSN 0921-8890, pages 181 - 198, December 2003, [Get
Paper (PDF)].
Andreas Nüchter, Hartmut Surmann, Kai
Lingemann, and Joachim Hertzberg. Semantic Scene Analysis of
Scanned 3D Indoor Environments, in Proceedings of the 8th
International Fall Workshop Vision, Modeling, and Visualization 2003
(VMV '03), IOS Press, ISBN 3-89838-048-3, pages 215 - 222, Munich, Germany,
November 2003, [Get
Paper (PDF)] [HTML
Version]. Hartmut Surmann, Andreas Nüchter, Kai
Lingemann, and Joachim Hertzberg. Kurt3D - An Autonomous Mobile
Robot for Modelling the World in 3D, in ERCIM NEWS 55 : 24
- 25, ISSN 0926-4981, October 2003, [online
article] [Get Magazine (PDF)] [Get Paper (PDF)].
Andreas Nüchter, Hartmut Surmann, Kai
Lingemann, Kai Pervölz, and Joachim Hertzberg. Video:
Autonomous Mobile Robots for 3D Digitalization of Environments, in
Video Theatre of the 4th IEEE International Conference on Recent
Advances in 3D Digital Imaging and Modeling (3DIM '03), Banff,
Canada, October 2003, [Download
Video]. Andreas Nüchter, Hartmut Surmann, and
Joachim Hertzberg. Automatic Model Refinement for 3D Reconstruction
with Mobile Robots, in Proceedings of the 4th IEEE
International Conference on Recent Advances in
3D Digital Imaging and Modeling (3DIM '03), IEEE Computer Society
Press, ISBN 0-7695-1991-1, pages 394 - 401, Banff, Canada, October
2003, [Get
Paper (PDF)] [HTML
Version]. Andreas Nüchter, Hartmut Surmann, Kai Lingemann,
Joachim Hertzberg: Consistent 3D Model Construction with Autonomous
Mobile Robots in: A. Günter et al. (eds.): KI 2003:
Advances in Artificial Intelligence. 26th Annual German Conference on
AI, Proceedings Springer LNAI vol. 2821, ISBN 3-540-20059-2,
pages 550 - 564, Hamburg, Germany, September 2003,
[Get
Paper (PDF)] [HTML
Version].
Andreas Nüchter, Hartmut Surmann, and
Joachim Hertzberg. Planning Robot Motion for 3D Digitalization of
Indoor Environments, in Proceedings of the 11th International
Conference on Advanced Robotics (ICAR '03), pages 222 - 227, ISBN
972-96889-9-0, Coimbra, Portugal, June 2003, [Get
Paper (PDF)] [HTML
Version]. Simone Frintrop, Erich Rome, Andreas Nüchter, and Hartmut
Surmann. An Attentive, Multi-modal Laser Eye, in Proceedings
of the third International Conference on Computer Vision Systems (ICVS
'03)., J. Crowley, J.H. Piater, M. Vincze, and L. Paletta (eds),
pages 202 - 211, Springer LNCS 2626, ISBN 3-540-00921-3, Graz,
Austria, April 2003, [Get
Paper (PDF)] (copyright Springer
Verlag).
Simone Frintrop, Erich Rome, Andreas Nüchter, and Hartmut
Surmann. Applying Attentional Mechanisms to Bi-modal 3D Laser
Data, in International Workshop on Attention and Performance in
Computer Vision (WAPCV '03) L. Paletta, G.W. Humphreys, and
R.B. Fisher (eds), pages. 25-30, Joanneum Research, Graz, Austria, 2003,
[Get
Paper (PDF)].
Simone Frintrop, Erich Rome, Andreas Nüchter,
and Hartmut Surmann, Visuelle Aufmerksamkeitsmechanismen auf bimodalen Laserdaten,
in Beiträge zur 6. Tübinger Wahrnehmungskonferenz (TWK '03),
H. Bülthoff, K.R. Gegenfurtner, H.A. Mallot, R. Ulrich, F.A. Wichmann
(eds), page 100, Tübingen, Germany, February, 2003. Hartmut Surmann, Andreas Nüchter, and
Joachim Hertzberg. Autonomous Mobile Robots for 3D Digitalization
of Indoor Environments, GMD Report 147, ISSN 1435-2702,
Sankt-Augustin, Germany, 2003.
2002
Andreas Nüchter. Autonome Exploration und
3D-Modellierung der Umgebung eines Roboters in Proceedings of
the 4. Fachwissenschaftlicher Informatikkongress - Informatiktage
2002, pages 64 - 68, ISBN 3-920560-17-5, Bad Schussenried,
Germany, November 2002 (2003), (best paper award) [Get
Paper (PDF)].
Andreas Nüchter. Autonome Exploration
und Modellierung von 3D-Umgebungen Diplomarbeit an der
Universität Bonn,
Bonn, Germany Juli 2002,
also appeared as GMD-Report 157, ISBN 3-88457-979-7, Sankt Augustin, Germany, July 2002,
[Get Paper
(PDF)]
[HTML Version].
2001
Hartmut Surmann, Kai Lingemann, Andreas
Nüchter, and Joachim Hertzberg. Fast acquiring and analysis of
three dimensional laser range data, in Proceedings of the 6th
International Fall Workshop Vision, Modelling, and Visualization 2001
(VMV '01), pages 59 - 66, ISBN 3-89838-028-9, Stuttgart, Germany,
November 2001, [Get
Paper (PDF)] [HTML
Version].
Andreas Nüchter, Kai Lingemann. Ein 3D
Laserscanner für autonome mobile Roboter, in Proceedings
of the 3. Fachwissenschaftlicher Informatikkongress - Informatiktage
2001, pages 89 - 92, Bad Schussenried, Germany, November 2001
(2002), [Get
Paper (PDF)].
Hartmut Surmann, Kai Lingemann, Andreas
Nüchter, and Joachim Hertzberg. A 3D laser range finder for
autonomous mobile robots, in Proceedings of the 32nd
International Symposium on Robotics (ISR '01), pages 153 - 158,
ISBN 89-88366-04-2, Seoul, Korea, May 2001, [Get
Paper (PDF)].
Hartmut Surmann, Kai Lingemann, Andreas
Nüchter, and Joachim Hertzberg. Aufbau eines 3D-Laserscanners
für autonome mobile Roboter, GMD-Report 126, ISBN
3-88457-974-6, Sankt Augustin, Germany, March 2001, [Abstract]
[Get
Paper (PDF)] [HTML
Version].
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