Zhang, J., Schwertfeger, S., & Kleiner, A. (2026). From Observation to Action: Latent Action-based Primitive Segmentation for VLA Pre-training in Industrial Settings. Conference on Computer Vision and Pattern Recognition 2026 (CVPR). https://arxiv.org/abs/2511.21428
2026
Xie, F., Schwertfeger, S., & Blum, H. (2026). osmAG-LLM: Zero-Shot Open-Vocabulary Object Navigation via Semantic Maps and Large Language Models Reasoning. IEEE Robotics and Automation Letters, 11, 2426–2433.
2025
Shi, J., Liu, X., Wang, D., Lu, O., Schwertfeger, S., Zhang, C., … Li, X. (2025). Adversarial Locomotion and Motion Imitation for Humanoid Policy Learning. The Thirty-Ninth Annual Conference on Neural Information Processing Systems (NeurIPS). PMLR. https://openreview.net/pdf?id=hVoIz6xD9Q
Zhang, Y., & Schwertfeger, S. (2025). Differential Barometric Altimetry for Submeter Vertical Localization and Floor Recognition Indoors. 2025 IEEE International Conference on Robotics and Biomimetics (ROBIO). IEEE. https://doi.org/10.1109/ROBIO66223.2025.11375889
Dong, L., Zhang, Z., Yang, Y., & Schwertfeger, S. (2025). Enabling Practical Dexterous Grasping: A Low-Cost VR Teleoperation System with Diffusion Policy and Factor Analysis. 2025 IEEE International Conference on Robotics and Biomimetics (ROBIO). IEEE. https://doi.org/10.1109/ROBIO66223.2025.11377888
Cao, J., Cui, J., & Schwertfeger, S. (2025). GlassGaussian: Extending 3D Gaussian Splatting for Realistic Imperfections and Glass Materials. IEEE Access. https://doi.org/10.1109/ACCESS.2025.3541856
Xie, F., Zhang, J., & Schwertfeger, S. (2025). Intelligent LiDAR Navigation: Leveraging External Information and Semantic Maps with LLM as Copilot. 2025 IEEE RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE. https://doi.org/10.1109/IROS60139.2025.11246069
Duan, X., Zhuang, Z., Zhao, H., & Schwertfeger, S. (2025). Playful DoggyBot: Learning Agile and Precise Quadrupedal Locomotion. 2025 IEEE RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE. https://doi.org/10.1109/IROS60139.2025.11245880
Zhao, X., & Schwertfeger, S. (2025). Pushing the Limits of LiDAR: Accurate Performance Analysis of Indoor 3D LiDARs. International Conference on 3D Vision 2025. https://openreview.net/forum?id=iKdpFUWltI
赵希亭, & 师泽仁 (Sören Schwertfeger). (2025). 一种激光雷达的修正方法、装置、设备及介质 [A laser radar correction method, device, equipment and medium] (CN120044505A).
谢馥, & 师泽仁 (Sören Schwertfeger). (2025). 路径规划方法、系统、介质和机器人质 [Path planning methods, systems, media, and robotic qualities] (CN119509544A).
2024
Zhao, X., & Schwertfeger, S. (2024). 3DRef: 3D Dataset and Benchmark for Reflection Detection in RGB and Lidar Data. 2024 International Conference on 3D Vision (3DV). IEEE. https://doi.org/10.1109/3DV62453.2024.00009
Lin, Y., Ma, J., Gu, S., Kong, J., Xu, B., Zhao, X., … Schwertfeger, S. (2024). Collecting Large-Scale Robotic Datasets on a High-Speed Mobile Platform. 2024 IEEE International Conference on Robotics and Biomimetics (ROBIO). IEEE. https://doi.org/10.1109/ROBIO64047.2024.10907441
Li, Y., Zhao, X., & Schwertfeger, S. (2024). Detection and Utilization of Reflections in LiDAR Scans through Plane Optimization and Plane SLAM. Sensors, 24. https://doi.org/10.3390/s24154794
Xie, F., & Schwertfeger, S. (2024). Empowering Robotics with Large Language Models: osmAG Map Comprehension with LLMs. 2024 IEEE International Conference on Robotics and Biomimetics (ROBIO). IEEE. https://doi.org/10.1109/ROBIO64047.2024.10907658
Li, J., Xu, B., & Schwertfeger, S. (2024). High-Quality, ROS Compatible Video Encoding and Decoding for High-Definition Datasets. 2024 IEEE International Conference on Robotics and Biomimetics (ROBIO). IEEE. https://doi.org/10.1109/ROBIO64047.2024.10907468
Cao, J., Zhao, X., & Schwertfeger, S. (2024). Large-Scale Indoor Visual–Geometric Multimodal Dataset and Benchmark for Novel View Synthesis. Sensors, 24, 5798. https://doi.org/10.3390/s24175798
Cui, J., Zhang, J., Kneip, L., & Schwertfeger, S. (2024). Neural Surfel Reconstruction: Addressing Loop Closure Challenges in Large-Scale 3D Neural Scene Mapping. Sensors.
Liu, Y., Yang, Y., Wang, Y., Wu, X., Wang, J., Yao, Y., … Ma, Y. (2024). RealDex: Towards Human-like Grasping for Robotic Dexterous Hand. Proceedings of the Thirty-Third International Joint Conference on Artificial Intelligence, IJCAI-24, 6859–6867. International Joint Conferences on Artificial Intelligence Organization. https://doi.org/10.24963/ijcai.2024/758 (Original work published 1970)
Xie, F., & Schwertfeger, S. (2024). Robust Lifelong Indoor LiDAR Localization Using the Area Graph. IEEE Robotics and Automation Letters, 9, 531-538. https://doi.org/10.1109/LRA.2023.3334158
Schwertfeger, S., Xu, B., Liu, X., Zhao, X., Yang, Y., & Feng, D. (2024). Video: On Solving SLAM Benchmarking. ICRA@40. https://ras.papercept.net/conferences/conferences/ICRAX24/program/ICRAX…
吕坤勇, 冯奕逍, & 师泽仁 (Sören Schwertfeger). (2024). 一种医疗抓取器械 [Medical grasping device] (CN118717229A).
吕坤勇, 冯奕逍, & 师泽仁 (Sören Schwertfeger). (2024). 一种多材料柔性关节及其应用结构 [A multi-material flexible joint and its application structure] (CN221130019U).
师泽仁 (Sören Schwertfeger), & 徐博文. (2024). 一种应用于传感器触发和时间同步的嵌入式系统及装置 [An embedded system and device for sensor triggering and time synchronization] (CN118784128A).
师泽仁 (Sören Schwertfeger), 崔佳迪, 张嘉杰, & 康智文. (2024). 三维网格模型的重建方法、系统、设备和介质 [Three-dimensional mesh model reconstruction method, system, device and medium] (CN119107429A).
李承谦, & 师泽仁 (Sören Schwertfeger). (2024). 基于拓扑层次语义地图的导航方法、装置、设备及介质 [Navigation method, device, equipment and medium based on topological hierarchical semantic map] (CN118443030A).
李胤杰, 赵希亭, & 师泽仁 (Sören Schwertfeger). (2024). 基于激光雷达的点云处理方法、机器人导航方法及装置 [Point cloud processing method based on laser radar, robot navigation method and device] (CN118918375A).
谢馥景, & 师泽仁 (Sören Schwertfeger). (2024). 路径规划和模型训练方法、系统、存储介质和机器人 [Path planning and model training method, system, storage medium and robot] (CN118913275A).
2023
Feng, D., He, Z., Hou, J., Schwertfeger, S., & Zhang, L. (2023). FloorplanNet: Learning Topometric Floorplan Matching for Robot Localization. Robotics and Automation (ICRA), 2023 IEEE International Conference on. IEEE Press. https://doi.org/10.1109/ICRA48891.2023.10160977
Jiang, W., Li, C., Cao, J., & Schwertfeger, S. (2023). Optimizing the extended Fourier Mellin Transformation Algorithm. 2023 IEEE RSJ International Conference on Intelligent Robots and Systems (IROS), 3453–3460. IEEE. https://doi.org/10.1109/IROS55552.2023.10341356
Feng, D., Li, C., Zhang, Y., Yu, C., & Schwertfeger, S. (2023). osmAG: Hierarchical Semantic Topometric Area Graph Maps in the OSM Format for Mobile Robotics. 2023 IEEE International Conference on Robotics and Biomimetics (ROBIO), 1–7. IEEE. https://doi.org/10.1109/ROBIO58561.2023.10354976
Zhuang, Z., Fu, Z., Wang, J., Atkeson, C., Schwertfeger, S., Finn, C., & Zhao, H. (2023). Robot Parkour Learning. Conference on Robot Learning. PMLR. https://proceedings.mlr.press/v229/zhuang23a/zhuang23a.pdf
Yang, Y., Xu, B., Li, Y., & Schwertfeger, S. (2023). The SLAM Hive Benchmarking Suite. Robotics and Automation (ICRA), 2023 IEEE International Conference on. IEEE Press. https://doi.org/10.1109/ICRA48891.2023.10160302
吕坤勇, 冯奕逍, & 师泽仁 (Sören Schwertfeger). (2023). 一种多材料柔性关节及其应用 [A Multi-material Flexible Joint and its Application] (CN116549087A).
智能控制 [Intelligent Control]. (2023). In 信息科学与技术伦理与道德 (Ethics and Morality in Information Science and Technology). China Machine Press. http://www.cmpedu.com/books/book/5606668.htm
2022
Wang, Y., Jiang, W., Huang, K., Schwertfeger, S., & Kneip, L. (2022). Accurate calibration of multi-perspective cameras from a generalization of the hand-eye constraint. Robotics and Automation (ICRA), 2022 IEEE International Conference on. IEEE Press. https://doi.org/10.1109/ICRA46639.2022.9811577
Yang, Y., Feng, D., & Schwertfeger, S. (2022). Cluster on Wheels. IEEE 2022 International Conference for Advancement in Technology ICONAT 2022. IEEE Press. https://doi.org/10.1109/ICONAT53423.2022.9725992
Cui, J., & Schwertfeger, S. (2022). CP+: Camera Poses Augmentation with Large-scale LiDAR Maps. 2022 IEEE International Conference on Real-Time Computing and Robotics (RCAR). IEEE. https://doi.org/10.1109/RCAR54675.2022.9872176
Hou, J., Yuan, Y., He, Z., & Schwertfeger, S. (2022). Matching maps based on the Area Graph. Intelligent Service Robotics, 1–26. https://doi.org/10.1007/s11370-021-00392-5
Zhi, X., Hou, J., Lu, Y., Kneip, L., & Schwertfeger, S. (2022). Multical: Spatiotemporal Calibration for Multiple IMUs, Cameras and LiDARs. IEEE/RSJ/International/Conference/on/Intelligent/Robots/and/Systems/(IROS). IEEE Press. https://doi.org/10.1109/IROS47612.2022.9982031
Tan, X., Liu, Z., Yu, C., Schwertfeger, S., & Rosendo, A. (2022). Rearranging the Environment to Maximize Energy with a Robotic Circuit Drawing. 2022 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2281–2286. IEEE. https://doi.org/10.1109/ROBIO55434.2022.10011990
赵登吉, 虞晶怡, 何旭明, 谢广平, 杨婷婷, 陶志锋, & 师泽仁 (Sören Schwertfeger). (2022). 自动采棉机器人及控制方法 [A fully-automatic cotton picking robot and a control method thereof] (CN114260894A).
2021
He, Z., Sun, H., Hou, J., Ha, Y., & Schwertfeger, S. (2021). Hierarchical Topometric Representation of 3D Robotic Maps. Autonomous Robots. https://doi.org/10.1007/s10514-021-09991-8
Xie, F., Zhang, J., & Schwertfeger, S. (2021). 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. https://lfm2024.github.io/papers/xie_lidarnav.pdf
Xu, Q., Kuang, H., Kneip, L., & Schwertfeger, S. (2021). Rethinking the Fourier-Mellin Transform: Multiple Depths in the Camera’s View. Remote Sensing, 13, 1000. https://doi.org/10.3390/rs13051000
Xu, Q., Long, X., Kuang, H., & Schwertfeger, S. (2021). Rotation Estimation for Omni-directional Cameras Using Sinusoid Fitting. Journal of Intelligent & Robotic Systems, 103, 1–29. https://doi.org/10.1007/s10846-021-01455-6
Yuan, Y., Borrmann, D., Hou, J., Ma, Y., Nüchter, A., & Schwertfeger, S. (2021). Self-Supervised Point Set Local Descriptors for Point Cloud Registration. Sensors. https://doi.org/https://doi.org/10.3390/s21020486
Cui, J., Kuang, H., Xu, Q., & Schwertfeger, S. (2021). Underwater Depth Estimation for Spherical Images. Journal of Robotics, 2021. https://doi.org/10.1155/2021/6644986
Kuang, H., Zhu, Y., Zhang, Z., Li, X., Tighe, J., Schwertfeger, S., … Li, M. (2021). Video Contrastive Learning with Global Context. ICCV 2021 Workshop on AI for Creative Video Editing and Understanding. https://arxiv.org/abs/2108.02722
2020
Chen, H., Yang, Z., Zhao, X., Weng, G., Wan, H., Luo, J., … Schwertfeger, S. (2020). Advanced Mapping Robot and High-Resolution Dataset. Robotics and Autonomous Systems. https://doi.org/10.1016/j.robot.2020.103559
Yuan, Y., Xu, Q., & Schwertfeger, S. (2020). Configuration-Space Flipper Planning on 3D Terrain. IEEE International Symposium on Safety, Security, Rescue Robotics (SSRR). IEEE Press. https://doi.org/10.1109/SSRR50563.2020.9292598
Long, X., Xu, Q., Yuan, Y., He, Z., & Schwertfeger, S. (2020). Improved Visual-Inertial Localization for Low-cost Rescue Robots. 21st World Congress of the International Federation of Automatic Control (IFAC). International Federation of Automatic Control. https://doi.org/10.1016/j.ifacol.2020.12.2624
Cai, J., Hou, J., Lu, Y., Chen, H., Kneip, L., & Schwertfeger, S. (2020). Improving CNN-based Planar Object Detection with Geometric Prior Knowledge. IEEE International Symposium on Safety, Security, Rescue Robotics (SSRR). IEEE Press. https://doi.org/10.1109/SSRR50563.2020.9292601
Zhao, X., Yang, Z., & Schwertfeger, S. (2020). Mapping with Reflection - Detection and Utilization of Reflection in 3D Lidar Scans. IEEE International Symposium on Safety, Security, Rescue Robotics (SSRR). IEEE Press. https://doi.org/10.1109/SSRR50563.2020.9292595
师泽仁 (Sören Schwertfeger), 徐晴雯, 龙肖灵, & 旷皓飞. (2020). 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 [A panoramic visual compass estimation method based on sine curve fitting and its application] (CN111354044B).
徐晴雯, & 师泽仁 (Sören Schwertfeger). (2020). 一种应用于多深度场景的扩展傅里叶梅林定位算法 [An Extended Fourier Merlin Location Algorithm Applied to Multi-depth Scenes] (CN111951318B).
2019
Chavez, A. G., Xu, Q., Mueller, C. A., Schwertfeger, S., & Birk, A. (2019). Adaptive Navigation Scheme for Optimal Deep-Sea Localization Using Multimodal Perception Cues. IEEE/RSJ/International/Conference/on/Intelligent/Robots/and/Systems/(IROS). IEEE Press. https://arxiv.org/abs/1906.04888
Hou, J., Yuan, Y., & Schwertfeger, S. (2019). Area Graph: Generation of Topological Maps using the Voronoi Diagram. 19th International Conference on Advanced Robotics (ICAR). IEEE Press. https://doi.org/10.1109/ICAR46387.2019.8981588
Xu, Q., & Schwertfeger, S. (2019). Comparison and Evaluation of 2D and 3D Range Sensors. https://arxiv.org/abs/1912.01297
Yuan, Y., Wang, L., & Schwertfeger, S. (2019). Configuration-Space Flipper Planning for Rescue Robots. IEEE International Symposium on Safety, Security, Rescue Robotics (SSRR). IEEE Press. https://doi.org/10.1109/SSRR.2019.8848978
Kuang, H., Xu, Q., & Schwertfeger, S. (2019). Depth Estimation on Underwater Omni-directional Images Using a Deep Neural Network. Workshop on Underwater Robotics Perception, 2019 IEEE International Conference on Robotics and Automation (ICRA). IEEE Press.
Schwertfeger, S., & Ohno, K. (2019). Editorial: Special issue on safety, security, and rescue robotics. Journal of Field Robotics, 36, 639-640. https://doi.org/10.1002/rob.21875
Zhi, X., Xu, Q., & Schwertfeger, S. (2019). Evaluation of Smartphone IMUs for Small Mobile Search and Rescue Robots. https://arxiv.org/abs/1912.01221
Hou, J., Kuang, H., & Schwertfeger, S. (2019). Fast 2D Map Matching Based on Area Graphs. 2019 IEEE International Conference on Robotics and Biomimetics (ROBIO). IEEE. https://doi.org/10.1109/ROBIO49542.2019.8961732
He, Z., Hou, J., & Schwertfeger, S. (2019). Furniture Free Mapping using 3D Lidars. 2019 IEEE International Conference on Robotics and Biomimetics (ROBIO). IEEE. https://doi.org/10.1109/ROBIO49542.2019.8961806
Chen, H., & Schwertfeger, S. (2019). Heterogeneous Multi-sensor Calibration Based on Graph Optimization. 2019 IEEE International Conference on Real-Time Computing and Robotics (RCAR). IEEE. https://arxiv.org/abs/1905.11167
Xu, Q., Chavez, A. G., Bülow, H., Birk, A., & Schwertfeger, S. (2019). Improved Fourier Mellin Invariant for Robust Rotation Estimation with Omni-cameras. 26th IEEE International Conference on Image Processing. IEEE. https://doi.org/10.1109/ICIP.2019.8802933
Yuan, Y., & Schwertfeger, S. (2019). Incrementally Building Topology Graphs via Distance Maps. 2019 IEEE International Conference on Real-Time Computing and Robotics (RCAR). IEEE. https://arxiv.org/abs/1811.01547
Zhi, X., He, X., & Schwertfeger, S. (2019). Learning Autonomous Exploration and Mapping with Semantic Vision. International Conference on Image, Video and Signal Processing. IVSP. ACM. https://doi.org/10.1145/3317640.3317652 (Original work published 1970)
Long, X., & Schwertfeger, S. (2019). Path Planning Tolerant to Degraded Locomotion Conditions. IEEE International Symposium on Safety, Security, Rescue Robotics (SSRR). IEEE Press. https://doi.org/10.1109/SSRR.2019.8848980
Kuang, H., Xu, Q., Long, X., & Schwertfeger, S. (2019). Pose Estimation for Omni-directional Cameras using Sinusoid Fitting. IEEE/RSJ/International/Conference/on/Intelligent/Robots/and/Systems/(IROS). IEEE Press. https://arxiv.org/abs/1910.00882
Shan, Z., Li, R., & Schwertfeger, S. (2019). RGBD-Inertial Trajectory Estimation and Mapping for Ground Robots. Sensors, 19, 2251. https://doi.org/10.3390/s19102251
Schwertfeger, S., & Yu, T. (2019). Room Detection for Topological Maps. https://arxiv.org/abs/1912.01279
Chavez, A. G., Xu, Q., Müller, C., Schwertfeger, S., & Birk, A. (2019). Towards Accurate Deep-Sea Localization in Structured Environments based on Perception Quality Cues. 2019 International Conference on Autonomous Agents and Multiagent Systems (AAMAS). ACM. http://www.ifaamas.org/Proceedings/aamas2019/pdfs/p1988.pdf
Chen, H., Zhao, X., Luo, J., Yang, Z., Zhao, Z., Wan, H., … Schwertfeger, S. (2019). Towards Generation and Evaluation of Comprehensive Mapping Robot Datasets. 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. https://arxiv.org/abs/1905.09483
2018
Yuan, Y., Kuang, H., & Schwertfeger, S. (2018). Fast Gaussian Process Occupancy Maps. Control Automation Robotics & Vision (ICARCV), 2018 15th International Conference on. IEEE. https://doi.org/10.1109/ICARCV.2018.8581356
Hou, J., Yuan, Y., & Schwertfeger, S. (2018). Topological Area Graph Generation and its Application to Path Planning. ArXiv Preprint ArXiv:1811.05113. https://arxiv.org/abs/1811.05113
智向阳, & Schwertfeger, S. (2018). 基于凸优化的扩展手眼标定 [Extended hand-eye calibration using convex optimization]. 电子设计工程 (Electronic Design Engineering). http://mag.ieechina.com/oa/DArticle.aspx?type=view&id=201801062
2017
Schwertfeger, S. (2017). Conference digest. 2017 IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR), 1-26. https://doi.org/10.1109/SSRR.2017.8088130
Zhi, X., & Schwertfeger, S. (2017). Simultaneous Hand-Eye Calibration and Reconstruction. IEEE/RSJ/International/Conference/on/Intelligent/Robots/and/Systems/(IROS). IEEE Press. https://doi.org/10.1109/IROS.2017.8205949
徐晴雯, & Schwertfeger, S. (2017). 多种激光传感器实验对比与评估 [Comparison and evaluation of multiple laser sensors]. 电子设计工程 (Electronic Design Engineering). http://mag.ieechina.com/oa/DArticle.aspx?type=view&id=201702050
2016
Sheh, R., Schwertfeger, S., & Visser, A. (2016). 16 Years of RoboCup Rescue. KI-Künstliche Intelligenz, 30, 267–277. https://doi.org/10.1007/s13218-016-0444-x
Schwertfeger, S., & Yu, T. (2016). Matching Paths in Topological Maps. 9th Symposium on Intelligent Autonomous Vehicles (IAV), IFAC. IFAC. https://doi.org/10.1016/j.ifacol.2016.07.736
Stoyanov, T., Vaskevicius, N., Mueller, C. A., Fromm, T., Krug, R., Tincani, V., … Echelmeyer, W. (2016). No more heavy lifting: Robotic solutions to the container unloading problem. Robotics and Automation Magazine. https://doi.org/10.1109/MRA.2016.2535098
Schwertfeger, S., & 于天彦. (2016). 拓扑地图中的房间检测 [Room detection for topological maps]. 电子设计工程 (Electronic Design Engineering). http://mag.ieechina.com/OA/darticle.aspx?type=view&id=201606004
2015
Schwertfeger, S., & Birk, A. (2015). Map evaluation using matched topology graphs. Autonomous Robots, 1-27. https://doi.org/10.1007/s10514-015-9493-5
Schwertfeger, S., & Birk, A. (2015). Using Fiducials in 3D Map Evaluation. IEEE International Symposium on Safety, Security, Rescue Robotics (SSRR). IEEE Press. https://doi.org/10.1109/SSRR.2015.7442997
2013
Schwertfeger, S., & Birk, A. (2013). Evaluation of Map Quality by Matching and Scoring High-Level, Topological Map Structures. Robotics and Automation (ICRA), 2013 IEEE International Conference on. https://doi.org/10.1109/ICRA.2013.6630876
2012
Schwertfeger, S., & Birk, A. (2012). A Short Overview of Recent Advances in Map Evaluation. IEEE International Symposium on Safety, Security, Rescue Robotics (SSRR). IEEE Press. https://doi.org/10.1109/SSRR.2012.6523906
Sheh, R., Jacoff, A., Virts, A.-M., Kimura, T., Pellenz, J., Schwertfeger, S., & Suthakorn, J. (2012). Advancing the State of Urban Search and Rescue Robotics through the RoboCupRescue Robot League Competition. 8th International Conference on Field and Service Robotics. https://doi.org/10.1007/978-3-642-40686-7_9
Schwertfeger, S. (2012). Robotic Mapping in the Real World: Performance Evaluation and System Integration. (Jacobs University Bremen gGmbH). Jacobs University Bremen gGmbH. http://d-nb.info/1035268981/34
Jacoff, A., Sheh, R., Virts, A.-M., Kimura, T., Pellenz, J., Schwertfeger, S., & Suthakorn, J. (2012). Using competitions to advance the development of standard test methods for response robots. Proceedings of the Workshop on Performance Metrics for Intelligent Systems, 182–189. ACM. https://doi.org/10.1145/2393091.2393126
2011
Birk, A., Wiggerich, B., Bülow, H., Pfingsthorn, M., & Schwertfeger, S. (2011). 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, 57-76. https://doi.org/10.1007/s10846-011-9546-8
Sheh, R., Kimura, T., Mihankhah, E., Pellenz, J., Schwertfeger, S., & Suthakorn, J. (2011). The RoboCupRescue robot league: Guiding robots towards fieldable capabilities. Advanced Robotics and Its Social Impacts (ARSO), 2011 IEEE Workshop on, 31–34. IEEE. https://doi.org/10.1109/ARSO.2011.6301977
Schwertfeger, S., Jacoff, A., Pellenz, J., & Birk, A. (2011). Using a Fiducial Map Metric for Assessing Map Quality in the context of RoboCup Rescue. International Workshop on Safety, Security, and Rescue Robotics (SSRR). IEEE Press. https://doi.org/10.1109/SSRR.2011.6106762
Schwertfeger, S., Birk, A., & Buelow, H. (2011). Using iFMI Spectral Registration for Video Stabilization and Motion Detection by an Unmanned Aerial Vehicle (UAV). International Workshop on Safety, Security, and Rescue Robotics (SSRR). IEEE Press. https://doi.org/10.1109/SSRR.2011.6106770
2010
Vaskevicius, N., Birk, A., Pathak, K., Schwertfeger, S., & Rathnam, R. (2010). Efficient Representation in 3D Environment Modeling for Planetary Robotic Exploration. Advanced Robotics, 24, 1169-1197. https://doi.org/10.1163/016918610X501291
Vaskevicius, N., Birk, A., Pathak, K., & Schwertfeger, S. (2010). Efficient Representation in 3D Environment Modeling for Planetary Robotic Exploration. Advanced Robotics, 24, 1169–1197. https://doi.org/10.1163/016918610X501291
Schwertfeger, S., Jacoff, A., Scrapper, C., Pellenz, J., & Kleiner, A. (2010). Evaluation of Maps using Fixed Shapes: The Fiducial Map Metric. Proceedings of PerMIS. https://doi.org/10.1145/2377576.2377638
Pfingsthorn, M., Birk, A., Schwertfeger, S., Bülow, H., & Pathak, K. (2010). Maximum Likelihood Mapping with Spectral Image Registration. Robotics and Automation, 2010. ICRA 2010. Proceedings of the 2010 IEEE International Conference on. https://doi.org/10.1109/ROBOT.2010.5509366
Schwertfeger, S., Bülow, H., & Birk, A. (2010). On the effects of Sampling Resolution in Improved Fourier Mellin based Registration for Underwater Mapping. 7th International Symposium on Intelligent Autonomous Vehicles (IAV 2010). IFAC. https://doi.org/10.3182/20100906-3-IT-2019.00106
Pathak, K., Birk, A., Vaskevicius, N., Pfingsthorn, M., Schwertfeger, S., & Poppinga, J. (2010). 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, 52-84. https://doi.org/10.1002/rob.20322
Birk, A., Pathak, K., Vaskevicius, N., Pfingsthorn, M., Poppinga, J., & Schwertfeger, S. (2010). Surface Representations for 3D Mapping: A Case for a Paradigm Shift. KI - Kuenstliche Intelligenz, 24, 249-254. https://doi.org/10.1007/s13218-010-0035-1
2009
Birk, A., Schwertfeger, S., & Pathak, K. (2009). 3D Data Collection at Disaster City at the 2008 NIST Response Robot Evaluation Exercise (RREE). International Workshop on Safety, Security, and Rescue Robotics (SSRR). IEEE Press. https://doi.org/10.1109/SSRR.2009.5424164
Birk, A., Vaskevicius, N., Pathak, K., Schwertfeger, S., Poppinga, J., & Bülow, H. (2009). 3D Perception and Modeling: Motion Level Teleoperation and Intelligent Autonomous Functions. IEEE Robotics and Automation Magazine (RAM), 6, 53-60. https://doi.org/10.1109/MRA.2009.934822
Birk, A., Schwertfeger, S., & Pathak, K. (2009). A Networking Framework for Teleoperation in Safety, Security, and Rescue Robotics (SSRR). IEEE Wireless Communications, Special Issue on Wireless Communications in Networked Robotics, 6, 6-13. https://doi.org/10.1109/MWC.2009.4804363
Pathak, K., Vaskevicius, N., Poppinga, J., Pfingsthorn, M., Schwertfeger, S., & Birk, A. (2009). Fast 3D Mapping by Matching Planes Extracted from Range Sensor Point-Clouds. International Conference on Intelligent Robots and Systems (IROS). IEEE Press. https://doi.org/10.1109/IROS.2009.5354061
Birk, A., Wiggerich, B., Bülow, H., Pfingsthorn, M., & Schwertfeger, S. (2009). Reconnaissance and Camp Security Missions with an Unmanned Aerial Vehicle (UAV) at the 2009 European Land Robots Trials (ELROB). IEEE International Workshop on Safety, Security and Rescue Robotics, SSRR. https://doi.org/10.1109/SSRR.2009.5424163 (Original work published 2009)
2008
Varsadan, I., Birk, A., Pfingsthorn, M., Schwertfeger, S., & Pathak, K. (2008). The Jacobs map analysis toolkit. Workshop on Experimental Methodology and Benchmarking in Robotics Research (RSS 2008). http://www.heronrobots.com/EuronGEMSig/downloads/Zurich/AbstractRESCUE_…
Schwertfeger, S., Poppinga, J., & Birk, A. (2008). Towards Object Classification using 3D Sensor Data. ECSIS Symposium on Learning and Adaptive Behaviors for Robotic Systems (LAB-RS). IEEE. https://doi.org/10.1109/LAB-RS.2008.28
2007
Pathak, K., Birk, A., Poppinga, J., & Schwertfeger, S. (2007). 3D Forward Sensor Modeling and Application to Occupancy Grid based Sensor Fusion. IEEE/RSJ/International/Conference/on/Intelligent/Robots/and/Systems. San Diego. https://doi.org/10.1109/IROS.2007.4399406 (Original work published 2007)
Pathak, K., Birk, A., Schwertfeger, S., & Poppinga, J. (2007). 3D Forward Sensor Modeling and Application to Occupancy Grid Based Sensor Fusion. International Conference on Intelligent Robots and Systems (IROS), 2059-2064. IEEE Press. https://doi.org/10.1109/IROS.2007.4399406
Albu, D., Birk, A., Dobrev, P., Gammoh, F., Giurgiu, A., Mihut, S.-C., … Videv, S. (2007). Fast Prototyping of an Autonomous Underwater Vehicle (AUV) with the CubeSystem. 6th International Symposium on Intelligent Autonomous Vehicles (IAV 2007). IFAC. https://doi.org/10.3182/20070903-3-FR-2921.00016
Pathak, K., Birk, A., Schwertfeger, S., Delchev, I., & Markov, S. (2007). Fully Autonomous Operations of a Jacobs Rugbot in the RoboCup Rescue Robot League 2006. International Workshop on Safety, Security, and Rescue Robotics (SSRR). IEEE Press. https://doi.org/10.1109/SSRR.2007.4381267
Birk, A., Pathak, K., Poppinga, J., Schwertfeger, S., & Chonnaparamutt, W. (2007). Intelligent Behaviors in Outdoor Environments. 13th International Conference on Robotics and Applications, Special Session on Outdoor Robotics - Taking Robots off Road. IASTED. http://www.actapress.com/PaperInfo.aspx?PaperID=31344&reason=500
Poppinga, J., Pfingsthorn, M., Schwertfeger, S., Pathak, K., & Birk, A. (2007). Optimized Octtree Datastructure and Access Methods for 3D Mapping. IEEE Safety, Security, and Rescue Robotics (SSRR). IEEE Press. https://doi.org/10.1109/SSRR.2007.4381275
Birk, A., Pathak, K., Poppinga, J., Schwertfeger, S., Pfingsthorn, M., & Bülow, H. (2007). The Jacobs Test Arena for Safety, Security, and Rescue Robotics (SSRR). Workshop on Performance Evaluation and Benchmarking for Intelligent Robots and Systems, International Conference on Intelligent Robots and Systems (IROS). IEEE Press. https://www.researchgate.net/publication/263258287
2006
Birk, A., Pathak, K., Schwertfeger, S., & Chonnaparamutt, W. (2006). The IUB Rugbot: an intelligent, rugged mobile robot for search and rescue operations. IEEE International Workshop on Safety, Security, and Rescue Robotics (SSRR). IEEE Press. http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.72.8908&rank=1
2005
Schwertfeger, S. (2005). Fine-grained Qualitative Spatial Reasoning about Point Positions. http://s-schwertfeger.eu/FSPP.pdf
Undated
Xu, Q., Bülow, H., Schwertfeger, S., & Birk, A. 3D Visual Odometry based on 2.5D Spectral Registration of Omni-directional 2D Images. Robotics and Autonomous Systems.
Wei, J., Liu, L., Cheng, R., Jiang, W., Xu, M., Jiang, X., … Kneip, L. Spotlights: Probing Shapes from Spherical Viewpoints. Proceedings of the Asian Conference on Computer Vision. https://openaccess.thecvf.com/content/ACCV2022/html/Wei_Spotlights_Prob…