PUBLICATIONS ⋅ Journals

Google scholar h-index of Prof. Schwertfeger: 24 with 2135 citations in total as of April 2025. Clickable paper links are also provided.

Google scholar:https://scholar.google.com/citations?user=Y2olJ9kAAAAJ
Orcid:https://orcid.org/0000-0003-2879-1636
Scopus:https://www.scopus.com/authid/detail.uri?authorId=24477534600
Mendeley:https://www.mendeley.com/authors/24477534600/
  1. Junming Cao, Jiadi Cui, and Sören Schwertfeger. Glassgaussian: Extending 3d gaussian splatting for realistic imperfections and glass materials. IEEE Access, 2025. https://doi.org/10.1109/ACCESS.2025.3541856
  2. Junming Cao, Xiting Zhao, and Sören Schwertfeger. Large-scale indoor visual–geometric multimodal dataset and benchmark for novel view synthesis. Sensors, 24(17):5798, 2024. https://doi.org/10.3390/s24175798
  3. Jiadi Cui, Jiajie Zhang, Laurent Kneip, and Sören Schwertfeger. Neural surfel reconstruction: Addressing loop closure challenges in large-scale 3d neural scene mapping. Sensors, 2024. in Press
  4. Yinjie Li, Xiting Zhao, and Sören Schwertfeger. Detection and utilization of reflections in lidar scans through plane optimization and plane slam. Sensors, 24(15), 2024. https://doi.org/10.3390/s24154794
  5. Fujing Xie and Sören Schwertfeger. Robust lifelong indoor lidar localization using the area graph. IEEE Robotics and Automation Letters, 9(1):531–538, 2024. https://doi.org/10.1109/LRA.2023.3334158
  6. Jiawei Hou, Yijun Yuan, Zhenpeng He, and Sören Schwertfeger. Matching maps based on the area graph. Intelligent Service Robotics, pages 1–26, 2022. https://doi.org/10.1007/s11370-021-00392-5
  7. Zhenpeng He, Hao Sun, Jiawei Hou, Yajun Ha, and Sören Schwertfeger. Hierarchical topometric representation of 3d robotic maps. Autonomous Robots, 2021. https://doi.org/10.1007/s10514-021-09991-8
  8. Qingwen Xu, Haofei Kuang, Laurent Kneip, and Sören Schwertfeger. Rethinking the fourier-mellin transform: Multiple depths in the camera’s view. Remote Sensing, 13(5):1000, 2021. https://doi.org/10.3390/rs13051000
  9. Qingwen Xu, Xiaoling Long, Haofei Kuang, and Sören Schwertfeger. Rotation estimation for omni-directional cameras using sinusoid fitting. Journal of Intelligent & Robotic Systems, 103(1):1–29, 2021. https://doi.org/10.1007/s10846-021-01455-6
  10. Yijun Yuan, Dorit Borrmann, Jiawei Hou, Yuexin Ma, Andreas Nüchter, and Sören Schwertfeger. Self-supervised point set local descriptors for point cloud registration. Sensors, 2021. https://doi.org/10.3390/s21020486
  11. Jiadi Cui, Haofei Kuang, Qingwen Xu, and Sören Schwertfeger. Underwater depth estimation for spherical images. Journal of Robotics, 2021, 2021. https://doi.org/10.1155/2021/6644986
  12. Hongyu Chen, Zhijie Yang, Xiting Zhao, Guangyuan Weng, Haochuan Wan, Jianwen Luo, Xiaoya Ye, Zehao Zhao, Zhenpeng He, Yongxia Shen, and Sören Schwertfeger. Advanced mapping robot and high-resolution dataset. Robotics and Autonomous Systems, 2020. https://doi.org/10.1016/j.robot.2020.103559
  13. Sören Schwertfeger and Kazunori Ohno. Editorial: Special issue on safety, security, and rescue robotics. Journal of Field Robotics, 36(4):639–640, 2019. https://dx.doi.org/10.1002/rob.21875
  14. Zeyong Shan, Ruijian Li, and Sören Schwertfeger. Rgbd-inertial trajectory estimation and mapping for ground robots. Sensors, 19(10):2251, 2019. https://doi.org/10.3390/s19102251
  15. Raymond Sheh, Sören Schwertfeger, and Arnoud Visser. 16 years of robocup rescue. KI-Künstliche Intelligenz, 30(3-4):267–277, 2016. http://dx.doi.org/10.1007/s13218-016-0444-x
  16. Todor Stoyanov, Narunas Vaskevicius, Christian A Mueller, Tobias Fromm, Robert Krug, Vinicio Tincani, Rasoul Mojtahedzadeh, Stefan Kunaschk, R Mortensen Ernits, D Ricao Canelhas, Manuel Bonilla, Sören Schwertfeger, Marco Bonini, Harry Halfar, Kaustubh Pathak, Moritz Rohde, Gualtiero Fantoni, Antonio Bicchi, Andreas Birk, Achim Lilienthal, and Wolfgang Echelmeyer. No more heavy lifting: Robotic solutions to the container unloading problem. Robotics and Automation Magazine, 2016. http://dx.doi.org/10.1109/MRA.2016.2535098
  17. Schwertfeger, Sören and Andreas Birk. Map evaluation using matched topology graphs. Autonomous Robots, pages 1–27, 2015. http://dx.doi.org/10.1007/s10514-015-9493-5
  18. Andreas Birk, Burkhard Wiggerich, Heiko Bülow, Max Pfingsthorn, and Sören Schwertfeger. Safety, security, and rescue missions with an unmanned aerial vehicle (uav): Aerial mosaicking and autonomous flight at the 2009 european land robots trials (elrob) and the 2010 response robot evaluation exercises (rree). Journal of Intelligent and Robotic Systems, 64(1):57–76, 2011. http://dx.doi.org/10.1007/s10846-011-9546-8
  19. Andreas Birk, Kaustubh Pathak, Narunas Vaskevicius, Max Pfingsthorn, Jann Poppinga, and Sören Schwertfeger. Surface representations for 3d mapping: A case for a paradigm shift. KI - Kuenstliche Intelligenz, 24(3):249–254, 2010. http://dx.doi.org/10.1007/s13218-010-0035-1
  20. Kaustubh Pathak, Andreas Birk, Narunas Vaskevicius, Max Pfingsthorn, Sören Schwertfeger, and Jann Poppinga. Online 3d slam by registration of large planar surface segments and closed form pose-graph relaxation. Journal of Field Robotics, Special Issue on 3D Mapping, 27(1):52–84, 2010. http://dx.doi.org/10.1002/rob.20322
  21. Andreas Birk, Sören Schwertfeger, and Kaustubh Pathak. A networking framework for teleoperation in safety, security, and rescue robotics (ssrr). IEEE Wireless Communications, Special Issue on Wireless Communications in Networked Robotics, 6(13):6–13, 2009. http://dx.doi.org/10.1109/MWC.2009.4804363
  22. Andreas Birk, Narunas Vaskevicius, Kaustubh Pathak, Sören Schwertfeger, Jann Poppinga, and Heiko Bülow. 3d perception and modeling: Motion level teleoperation and intelligent autonomous functions. IEEE Robotics and Automation Magazine (RAM), 6(4):53–60, 2009. http://dx.doi.org/10.1109/MRA.2009.934822
  23. Narunas Vaskevicius, Andreas Birk, Kaustubh Pathak, Sören Schwertfeger, and Ravi Rathnam. Efficient representation in 3d environment modeling for planetary robotic exploration. Advanced Robotics, 24(8-9):1169–1197, 2010. http://dx.doi.org/10.1163/016918610X501291

PUBLICATIONS ⋅ Peer Reviewed Conferences

  1. Fujing Xie and Sören Schwertfeger. Empowering robotics with large language models: osmag map comprehension with llms. In 2024 IEEE International Conference on Robotics and Biomimetics (ROBIO). IEEE, 2024. https://doi.org/10.1109/ROBIO64047.2024.10907658
  2. Jian Li, Bowen Xu, and Sören Schwertfeger. High-quality, ros compatible video encoding and decoding for high-definition datasets. In 2024 IEEE International Conference on Robotics and Biomimetics (ROBIO). IEEE, 2024. https://doi.org/10.1109/ROBIO64047.2024.10907468
  3. Yuxin Lin, Jiaxuan Ma, Sizhe Gu, Jipeng Kong, Bowen Xu, Xiting Zhao, Dengji Zhao, Wenhan Cao, and Sören Schwertfeger. Collecting large-scale robotic datasets on a high-speed mobile platform. In 2024 IEEE International Conference on Robotics and Biomimetics (ROBIO). IEEE, 2024. https://doi.org/10.1109/ROBIO64047.2024.10907441
  4. Yumeng Liu, Yaxun Yang, Youzhuo Wang, Xiaofei Wu, Jiamin Wang, Yichen Yao, Sören Schwertfeger, Sibei Yang, Wenping Wang, Jingyi Yu, Xuming He, and Yuexin Ma. Realdex: Towards human-like grasping for robotic dexterous hand. In Proceedings of the Thirty-Third International Joint Conference on Artificial Intelligence, IJCAI-24, pages 6859–6867. International Joint Conferences on Artificial Intelligence Organization, 8 2024. https://doi.org/10.24963/ijcai.2024/758
  5. Xiting Zhao and Sören Schwertfeger. 3dref: 3d dataset and benchmark for reflection detection in rgb and lidar data. In 2024 International Conference on 3D Vision (3DV). IEEE, 2024. https://doi.org/10.1109/3DV62453.2024.00009
  6. Delin Feng, Chengqian Li, Yongqi Zhang, Chen Yu, and Sören Schwertfeger. osmag: Hierarchical semantic topometric area graph maps in the osm format for mobile robotics. In 2023 IEEE International Conference on Robotics and Biomimetics (ROBIO), pages 1–7. IEEE, 2023. https://doi.org/10.1109/ROBIO58561.2023.10354976
  7. Ziwen Zhuang, Zipeng Fu, Jianren Wang, Christopher Atkeson, Sören Schwertfeger, Chelsea Finn, and Hang Zhao. Robot parkour learning. In Conference on Robot Learning. PMLR, 2023. https://proceedings.mlr.press/v229/zhuang23a/zhuang23a.pdf
  8. Wenqing Jiang, Chengqian Li, Jinyue Cao, and Sören Schwertfeger. Optimizing the extended fourier mellin transformation algorithm. In 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 3453–3460. IEEE, 2023. https://doi.org/10.1109/IROS55552.2023.10341356
  9. Yuanyuan Yang, Bowen Xu, Yinjie Li, and Sören Schwertfeger. The slam hive benchmarking suite. In Robotics and Automation (ICRA), 2023 IEEE International Conference on. IEEE Press, IEEE Press, 2023. https://doi.org/10.1109/ICRA48891.2023.10160302
  10. Delin Feng, Zhenpeng He, Jiawei Hou, Sören Schwertfeger, and Liangjun Zhang. Floorplannet: Learning topometric floorplan matching for robot localization. In Robotics and Automation (ICRA), 2023 IEEE International Conference on. IEEE Press, IEEE Press, 2023. https://doi.org/10.1109/ICRA48891.2023.10160977
  11. Xianglong Tan, Zhikang Liu, Chen Yu, Sören Schwertfeger, and Andre Rosendo. Rearranging the environment to maximize energy with a robotic circuit drawing. In 2022 IEEE International Conference on Robotics and Biomimetics (ROBIO), pages 2281–2286. IEEE, 2022. https://doi.org/10.1109/ROBIO55434.2022.10011990
  12. Xiangyang Zhi, Jiawei Hou, Yiren Lu, Laurent Kneip, and Sören Schwertfeger. Multical: Spatiotemporal calibration for multiple imus, cameras and lidars. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE Press, 2022. https://doi.org/10.1109/IROS47612.2022.9982031
  13. Jiadi Cui and Sören Schwertfeger. Cp+: Camera poses augmentation with large-scale lidar maps. In 2022 IEEE International Conference on Real-time Computing and Robotics (RCAR). IEEE, 2022. https://doi.org/10.1109/RCAR54675.2022.9872176 Finalist best student paper award.
  14. Jiaxin Wei, Lige Liu, Ran Cheng, Wenqing Jiang, Minghao Xu, Xinyu Jiang, Tao Sun, Sören Schwertfeger, and Laurent Kneip. Spotlights: Probing shapes from spherical viewpoints. Proceedings of the Asian Conference on Computer Vision, in Press. https://openaccess.thecvf.com/content/ACCV2022/html/WeiSpotlightsProbingShapesfromSphericalViewpointsACCV2022paper.html
  15. Yifu Wang, Wenqing Jiang, Kun Huang, Sören Schwertfeger, and Laurent Kneip. Accurate calibration of multi-perspective cameras from a generalization of the hand-eye constraint. In Robotics and Automation (ICRA), 2022 IEEE International Conference on. IEEE Press, IEEE Press, 2022. https://doi.org/10.1109/ICRA46639.2022.9811577
  16. Yuanyuan Yang, Delin Feng, and Sören Schwertfeger. Cluster on wheels. In IEEE 2022 International Conference for Advancement in Technology ICONAT 2022. IEEE Press, IEEE Press, 2022. https://doi.org/10.1109/ICONAT53423.2022.9725992
  17. Haofei Kuang, Yi Zhu, Zhi Zhang, Xinyu Li, Joseph Tighe, Sören Schwertfeger, Cyrill Stachniss, and Mu Li. Video contrastive learning with global context. ICCV 2021 Workshop on AI for Creative Video Editing and Understanding, 2021. https://arxiv.org/abs/2108.02722
  18. Jianxiong Cai, Jiawei Hou, Yiren Lu, Hongyu Chen, Laurent Kneip, and Sören Schwertfeger. Improving cnn-based planar object detection with geometric prior knowledge. In IEEE International Symposium on Safety, Security, Rescue Robotics (SSRR). IEEE Press, IEEE Press, 2020. https://doi.org/10.1109/SSRR50563.2020.9292601
  19. Xiting Zhao, Zhijie Yang, and Sören Schwertfeger. Mapping with reflection - detection and utilization of reflection in 3d lidar scans. In IEEE International Symposium on Safety, Security, Rescue Robotics (SSRR). IEEE Press, IEEE Press, 2020. https://doi.org/10.1109/SSRR50563.2020.9292595
  20. Xiaoling Long, Qingwen Xu, Yijun Yuan, Zhenpeng He, and Sören Schwertfeger. Improved visual-inertial localization for low-cost rescue robots. In 21st World Congress of the International Federation of Automatic Control (IFAC). International Federation of Automatic Control, 2020. https://doi.org/10.1016/j.ifacol.2020.12.2624
  21. Haofei Kuang, Qingwen Xu, Xiaoling Long, and Sören Schwertfeger. Pose estimation for omni-directional cameras using sinusoid fitting. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE Press, 2019. https://arxiv.org/abs/1910.00882
  22. Arturo Gomez Chavez, Qingwen Xu, Christian Atanas Mueller, Sören Schwertfeger, and Andreas Birk. Adaptive navigation scheme for optimal deep-sea localization using multimodal perception cues. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE Press, 2019. https://arxiv.org/abs/1906.04888
  23. Jiawei Hou, Yijun Yuan, and Sören Schwertfeger. Area graph: Generation of topological maps using the voronoi diagram. In 19th International Conference on Advanced Robotics (ICAR). IEEE Press, IEEE Press, 2019. https://doi.org/10.1109/ICAR46387.2019.8981588
  24. Jiawei Hou, Haofei Kuang, and Sören Schwertfeger. Fast 2d map matching based on area graphs. In 2019 IEEE International Conference on Robotics and Biomimetics (ROBIO). IEEE, IEEE, 2019. https://doi.org/10.1109/ROBIO49542.2019.8961732
  25. Zhenpeng He, Jiawei Hou, and Sören Schwertfeger. Furniture free mapping using 3d lidars. In 2019 IEEE International Conference on Robotics and Biomimetics (ROBIO). IEEE, IEEE, 2019. https://doi.org/10.1109/ROBIO49542.2019.8961806. Finalist for the Best Paper Award
  26. Yijun Yuan, Letong Wang, and Sören Schwertfeger. Configuration-space flipper planning for rescue robots. In IEEE International Symposium on Safety, Security, Rescue Robotics (SSRR). IEEE Press, 2019. https://doi.org/10.1109/SSRR.2019.8848978
  27. Xiaoling Long and Sören Schwertfeger. Path planning tolerant to degraded locomotion conditions. In IEEE International Symposium on Safety, Security, Rescue Robotics (SSRR). IEEE Press, 2019. https://doi.org/10.1109/SSRR.2019.8848980
  28. Qingwen Xu, Arturo Gomez Chavez, Heiko Bülow, Andreas Birk, and Sören Schwertfeger. Improved fourier mellin invariant for robust rotation estimation with omni-cameras. In 26th IEEE International Conference on Image Processing. IEEE, 2019. https://doi.org/10.1109/ICIP.2019.8802933
  29. Hongyu Chen and Sören Schwertfeger. Heterogeneous multi-sensor calibration based on graph optimization. In 2019 IEEE International Conference on Real-time Computing and Robotics (RCAR). IEEE, 2019. https://arxiv.org/abs/1905.11167
  30. Yijun Yuan and Sören Schwertfeger. Incrementally building topology graphs via distance maps. In 2019 IEEE International Conference on Real-time Computing and Robotics (RCAR). IEEE, 2019. https://arxiv.org/abs/1811.01547
  31. Xiangyang Zhi, Xuming He, and Sören Schwertfeger. Learning autonomous exploration and mapping with semantic vision. In International Conference on Image, Video and Signal Processing. IVSP. ACM, ACM, 02/2019 2019. https://doi.org/10.1145/3317640.3317652
  32. Yijun Yuan, Haofei Kuang, and Sören Schwertfeger. Fast gaussian process occupancy maps. In Control Automation Robotics & Vision (ICARCV), 2018 15th International Conference on. IEEE, IEEE, 2018. https://doi.org/10.1109/ICARCV.2018.8581356
  33. Xiangyang Zhi and Sören Schwertfeger. Simultaneous hand-eye calibration and reconstruction. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE Press, 2017. https://doi.org/10.1109/IROS.2017.8205949
  34. Sören Schwertfeger and Tianyan Yu. Matching paths in topological maps. In 9th Symposium on Intelligent Autonomous Vehicles (IAV), IFAC. IFAC, 2016. http://dx.doi.org/10.1016/j.ifacol.2016.07.736
  35. Sören Schwertfeger and Andreas Birk. Using fiducials in 3d map evaluation. In IEEE International Symposium on Safety, Security, Rescue Robotics (SSRR). IEEE Press, 2015. http://dx.doi.org/10.1109/SSRR.2015.7442997 Finalist for the Best Paper Award
  36. Sören Schwertfeger and Andreas Birk. Evaluation of map quality by matching and scoring high-level, topological map structures. In Robotics and Automation (ICRA), 2013 IEEE International Conference on, 2013. http://dx.doi.org/10.1109/ICRA.2013.6630876
  37. Sören Schwertfeger and Andreas Birk. A short overview of recent advances in map evaluation. In IEEE International Symposium on Safety, Security, Rescue Robotics (SSRR). IEEE Press, 2012. http://dx.doi.org/10.1109/SSRR.2012.6523906
  38. Adam Jacoff, Raymond Sheh, Ann-Marie Virts, Tetsuya Kimura, Johannes Pellenz, Sören Schwertfeger, and Jackrit Suthakorn. Using competitions to advance the development of standard test methods for response robots. In Proceedings of the Workshop on Performance Metrics for Intelligent Systems, pages 182–189. ACM, 2012. http://dx.doi.org/10.1145/2393091.2393126
  39. Raymond Sheh, Adam Jacoff, Ann-Marie Virts, Tetsuya Kimura, Johannes Pellenz, Sören Schwertfeger, and Jackrit Suthakorn. Advancing the state of urban search and rescue robotics through the robocuprescue robot league competition. 8th International Conference on Field and Service Robotics, 2012. http://dx.doi.org/10.1007/978-3-642-40686-79
  40. Raymond Sheh, Tetsuya Kimura, Ehsan Mihankhah, Johannes Pellenz, Sören Schwertfeger, and Jackrit Suthakorn. The robocuprescue robot league: Guiding robots towards fieldable capabilities. In Advanced Robotics and its Social Impacts (ARSO), 2011 IEEE Workshop on, pages 31–34. IEEE, 2011. http://dx.doi.org/10.1109/ARSO.2011.6301977
  41. Sören Schwertfeger, Adam Jacoff, Johannes Pellenz, and Andreas Birk. Using a fiducial map metric for assessing map quality in the context of robocup rescue. In International Workshop on Safety, Security, and Rescue Robotics (SSRR). IEEE Press, 2011. http://dx.doi.org/10.1109/SSRR.2011.6106762
  42. Sören Schwertfeger, Andreas Birk, and Heiko Buelow. Using ifmi spectral registration for video stabilization and motion detection by an unmanned aerial vehicle (uav). In International Workshop on Safety, Security, and Rescue Robotics (SSRR). IEEE Press, 2011. http://dx.doi.org/10.1109/SSRR.2011.6106770 Best Paper Award
  43. Max Pfingsthorn, Andreas Birk, Sören Schwertfeger, Heiko Bülow, and Kaustubh Pathak. Maximum likelihood mapping with spectral image registration. In Robotics and Automation, 2010. ICRA 2010. Proceedings of the 2010 IEEE International Conference on, 2010. http://dx.doi.org/10.1109/ROBOT.2010.5509366
  44. Schwertfeger, Sören, Heio Bülow, and Andreas Birk. On the effects of Sampling Resolution in Improved Fourier Mellin based Registration for Underwater Mapping. In 7th International Symposium on Intelligent Autonomous Vehicles (IAV 2010). IFAC, 2010. http://dx.doi.org/10.3182/20100906-3-IT-2019.00106
  45. Schwertfeger, Sören, Adam Jacoff, Chris Scrapper, Johannes Pellenz, and Alexander Kleiner. Evaluation of maps using fixed shapes: The fiducial map metric. In Proceedings of PerMIS, 2010. http://dx.doi.org/10.1145/2377576.2377638
  46. Andreas Birk, Burkhard Wiggerich, Heiko Bülow, Max Pfingsthorn, and Sören Schwertfeger. Reconnaissance and camp security missions with an unmanned aerial vehicle (uav) at the 2009 european land robots trials (elrob). In IEEE International Workshop on Safety, Security and Rescue Robotics, SSRR, November 2009. http://dx.doi.org/10.1109/SSRR.2009.5424163
  47. Kaustubh Pathak, Narunas Vaskevicius, Jann Poppinga, Max Pfingsthorn, Sören Schwertfeger, and Andreas Birk. Fast 3d mapping by matching planes extracted from range sensor point-clouds. In International Conference on Intelligent Robots and Systems (IROS). IEEE Press, 2009. http://dx.doi.org/10.1109/IROS.2009.5354061
  48. Andreas Birk, Sören Schwertfeger, and Kaustubh Pathak. 3d data collection at disaster city at the 2008 nist response robot evaluation exercise (rree). In International Workshop on Safety, Security, and Rescue Robotics (SSRR). IEEE Press, 2009. http://dx.doi.org/10.1109/SSRR.2009.5424164
  49. Sören Schwertfeger, Jann Poppinga, and Andreas Birk. Towards object classification using 3d sensor data. In ECSIS Symposium on Learning and Adaptive Behaviors for Robotic Systems (LAB-RS). IEEE, 2008. http://dx.doi.org/10.1109/LAB-RS.2008.28
  50. Andreas Birk, Kaustubh Pathak, Jann Poppinga, Sören Schwertfeger, and Winai Chonnaparamutt. Intelligent behaviors in outdoor environments. In 13th International Conference on Robotics and Applications, Special Session on Outdoor Robotics - Taking Robots off road. IASTED, 2007. http://www.actapress.com/PaperInfo.aspx?PaperID=31344&reason=500
  51. Kaustubh Pathak, Andreas Birk, Jann Poppinga, and Schwertfeger, Sören. 3d forward sensor modeling and application to occupancy grid based sensor fusion. In IEEE/RSJ International Conference on Intelligent Robots and Systems, San Diego, Nov 2007. http://dx.doi.org/10.1109/IROS.2007.4399406
  52. Jann Poppinga, Max Pfingsthorn, Sören Schwertfeger, Kaustubh Pathak, and Andreas Birk. Optimized octtree datastructure and access methods for 3d mapping. In IEEE Safety, Security, and Rescue Robotics (SSRR). IEEE Press, 2007. http://dx.doi.org/10.1109/SSRR.2007.4381275
  53. Diana Albu, Andreas Birk, Petar Dobrev, Farah Gammoh, Andrei Giurgiu, Sergiu-Cristian Mihut, Bogdan Minzu, Razvan Pascanu, Sören Schwertfeger*, Alexandru Stan, and Stefan Videv. Fast prototyping of an autonomous underwater vehicle (auv) with the cubesystem. In 6th International Symposium on Intelligent Autonomous Vehicles (IAV 2007). IFAC, 2007. http://dx.doi.org/10.3182/20070903-3-FR-2921.00016
  54. Kaustubh Pathak, Andreas Birk, Sören Schwertfeger, Ivan Delchev, and Stefan Markov. Fully autonomous operations of a jacobs rugbot in the robocup rescue robot league 2006. In International Workshop on Safety, Security, and Rescue Robotics (SSRR). IEEE Press, 2007. http://dx.doi.org/10.1109/SSRR.2007.4381267
  55. Andreas Birk, Kausthub Pathak, Sören Schwertfeger, and Winai Chonnaparamutt. The iub rugbot: an intelligent, rugged mobile robot for search and rescue operations. In IEEE International Workshop on Safety, Security, and Rescue Robotics (SSRR). IEEE Press, 2006. http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.72.8908&rank=1

PUBLICATIONS ⋅ Book Chapters

  1. 信息科学与技术伦理与道德 (Ethics and Morality in Information Science and Technology), Chapter 8: 智能控制 (Intelligent Control), China Machine Press 2023, ISBN：978-7-111-72706-4 http://www.cmpedu.com/books/book/5606668.htm

PUBLICATIONS ⋅ Other

  1. Sören Schwertfeger, Bowen Xu, Xinzhe Liu, Xiting Zhao, Yuanyuan Yang, and Delin Feng. Video: On solving slam benchmarking. In ICRA@40, 2024. https://ras.papercept.net/conferences/conferences/ICRAX24/program/ICRAX24ContentListWeb1.html\#moint1s47

  2. Schwertfeger, Sören. Conference digest. In 2017 IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR), pages 1–26, 2017. http://dx.doi.org/10.1109/SSRR.2017.8088130

    Thesis

  3. Schwertfeger, Sören. Robotic Mapping in the Real World: Performance Evaluation and System Integration. PhD thesis, Department of Electrical Engeneering and Computer Science, Jacobs University Bremen, 2012. http://d-nb.info/1035268981/34
  4. Schwertfeger, Sören. Fine-grained qualitative spatial reasoning about point positions., 2005. https://arxiv.org/abs/1911.06543 Diploma Thesis Workshop Papers
  5. Fujing Xie, Jiajie Zhang, and Sören Schwertfeger. Intelligent lidar navigation: Leveraging external information and semantic maps with llm as copilot. IROS 2024 Workshop: From Learning-based to Foundation Models for Mapping Challenges and Opportunities, 2021. https://lfm2024.github.io/papers/xielidarnav.pdf
  6. Haofei Kuang, Qingwen Xu, and Sören Schwertfeger. Depth estimation on underwater omni-directional images using a deep neural network. In Workshop on Underwater Robotics Perception, 2019 IEEE International Conference on Robotics and Automation (ICRA). IEEE Press, 2019. http://icra-2019-uwroboticsperception.ge.issia.cnr.it/assets/ICRA19-WS-URP-CameraReadySubmissions/ICRA19-WS-URP-Paper-09.pdf. Best Workshop Paper Award.
  7. Hongyu Chen, Xiting Zhao, Jianwen Luo, Zhijie Yang, Zehao Zhao, Haochuan Wan, Xiaoya Ye, Guangyuan Weng, Zhenpeng He, Tian Dong, and Sören Schwertfeger. Towards generation and evaluation of comprehensive mapping robot datasets. In Workshop on Dataset Generation and Benchmarking of SLAM Algorithms for Robotics and VR/AR, 2019 IEEE International Conference on Robotics and Automation (ICRA). IEEE Press, 2019. https://arxiv.org/abs/1905.09483
  8. Arturo Gomez Chavez, Qingwen Xu, Christian Müller, Sören Schwertfeger, and Andreas Birk. Towards accurate deep-sea localization in structured environments based on perception quality cues. In 2019 international conference on autonomous agents and multiagent systems (AAMAS). ACM, 2019. http://www.ifaamas.org/Proceedings/aamas2019/pdfs/p1988.pdf
  9. Ioana Varsadan, Andreas Birk, Max Pfingsthorn, Sören Schwertfeger, and Kaustubh Pathak. The jacobs map analysis toolkit. Workshop on experimental methodology and benchmarking in robotics research (RSS 2008), 2008. http://www.heronrobots.com/EuronGEMSig/downloads/Zurich/AbstractRESCUERSS08MapQualityAbstract.pdf

  10. Andreas Birk, Kaustubh Pathak, Jann Poppinga, Sören Schwertfeger, Max Pfingsthorn, and Heiko Bülow. The jacobs test arena for safety, security, and rescue robotics (ssrr). In Workshop on Performance Evaluation and Benchmarking for Intelligent Robots and Systems, International Conference on Intelligent Robots and Systems (IROS). IEEE Press, 2007. https://www.researchgate.net/publication/263258287

    Arxiv

  11. Jiawei Hou, Yijun Yuan, and Sören Schwertfeger. Topological area graph generation and its application to path planning. arXiv preprint arXiv:1811.05113, 2018. https://arxiv.org/abs/1811.05113
  12. Xiangyang Zhi, Qingwen Xu, and Sören Schwertfeger. Evaluation of smartphone imus for small mobile search and rescue robots, 2019. https://arxiv.org/abs/1912.01221

Chinese Journals

  1. 智向阳 and Sören Schwertfeger. 基于凸优化的扩展手眼标定. In 电子设计工程, 2018.
    Xiangyang Zhi and Sören Schwertfeger. Extended hand-eye calibration using convex optimization. In Electronic Design Engineering, 2018. http://mag.ieechina.com/oa/DArticle.aspx?type=view&id=201801062
  2. 徐晴雯 and Sören Schwertfeger. 多种激光传感器实验对比与评估. In 电子设计 工程， 2017.
    Qingwen Xu and Sören Schwertfeger. Comparison and evaluation of multiple laser sensors. In Electronic Design Engineering, 2017. http://mag.ieechina.com/oa/DArticle.aspx?type=view&id=201702050
    Translation on arxiv:
    Qingwen Xu and Sören Schwertfeger. Comparison and evaluation of 2d and 3d range sensors, 2019. https://arxiv.org/abs/1912.01297

  3. Sören Schwertfeger and 于天彦. 拓扑地图中的房间检测. In 电子设计工程, 2016. 
    Sören Schwertfeger and Tianyan Yu. Room detection for topological maps. In Electronic Design Engineering, 2016. http://mag.ieechina.com/OA/darticle.aspx?type=view&id=201606004
    Translation on arxiv:
    Sören Schwertfeger and Tianyan Yu. Room detection for topological maps, 2019. https://arxiv.org/abs/1912.01279

     

    Chinese Patents / Patent Applications

  4. 一种激光雷达的修正方法、装置、设备及介质 2025
    A laser radar correction method, device, equipment and medium
    赵希亭; 师泽仁 (Sören Schwertfeger) 
    Number: CN120044505A
  5. 路径规划方法、系统、介质和机器人质 2025
    Path planning methods, systems, media, and robotic qualities
    谢馥; 师泽仁 (Sören Schwertfeger) 
    Number: CN119509544A
  6. 三维网格模型的重建方法、系统、设备和介质 2024
    Three-dimensional mesh model reconstruction method, system, device and medium
    师泽仁 (Sören Schwertfeger); 崔佳迪; 张嘉杰; 康智文 
    Number: CN119107429A
  7. 路径规划和模型训练方法、系统、存储介质和机器人 2024 
    Path planning and model training method, system, storage medium and robot 
    Inventors: 谢馥景; 师泽仁 (Sören Schwertfeger)
    Number：CN118913275A
  8. 基于激光雷达的点云处理方法、机器人导航方法及装置 2024
    Point cloud processing method based on laser radar, robot navigation method and device
    Inventors: 李胤杰; 赵希亭; 师泽仁 (Sören Schwertfeger)
    Number：CN118918375A
  9. 一种应用于传感器触发和时间同步的嵌入式系统及装置 2024
    An embedded system and device for sensor triggering and time synchronization
    Inventors: 师泽仁 (Sören Schwertfeger); 徐博文
    Number：CN118784128A
  10. 一种医疗抓取器械 2024 
    Medical grasping device
    Inventors: 吕坤勇; 冯奕逍; 师泽仁 (Sören Schwertfeger)
    Number：CN118717229A
  11. 一种多材料柔性关节及其应用结构 2024 
    A multi-material flexible joint and its application structure 
    Inventors: 吕坤勇; 冯奕逍; 师泽仁 (Sören Schwertfeger)
    Utility Model Number: CN221130019U
  12. 基于拓扑层次语义地图的导航方法、装置、设备及介质 2024 
    Navigation method, device, equipment and medium based on topological hierarchical semantic map 
    Inventors: 李承谦; 师泽仁 (Sören Schwertfeger)
    Number：CN118443030A
  13. 一种多材料柔性关节及其应用 2023
    A Multi-material Flexible Joint and its Application 
    Inventors: 吕坤勇; 冯奕逍; 师泽仁 (Sören Schwertfeger)
    Number：CN116549087A
  14. 自动采棉机器人及控制方法 2022 
    A fully-automatic cotton picking robot and a control method thereof 
    Inventors: 赵登吉; 虞晶怡; 何旭明; 谢广平; 杨婷婷; 陶志锋; 师泽仁(Sören Schwertfeger)
    Number: CN114260894A
  15. 一种应用于多深度场景的扩展傅里叶梅林定位算法 2020
    An Extended Fourier Merlin Location Algorithm Applied to Multi-depth Scenes
    Inventors： 徐晴雯；师泽仁 (Sören Schwertfeger)
    Number： CN111951318B
  16. 一种基于正弦曲线拟合的全景视觉罗盘估计方法及其应用 2020
    A panoramic visual compass estimation method based on sine curve fitting and its application
    Inventors：师泽仁 (Sören Schwertfeger); 徐晴雯; 龙肖灵; 旷皓飞
    Number：CN111354044B