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"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, vol. 64, no. 1, pp. 57-76, 2011.
"Maximum Likelihood Mapping with Spectral Image Registration", Robotics and Automation, 2010. ICRA 2010. Proceedings of the 2010 IEEE International Conference on, 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, vol. 27, no. 1, pp. 52-84, 2010.
"Surface Representations for 3D Mapping: A Case for a Paradigm Shift", KI - Kuenstliche Intelligenz, vol. 24, no. 3, pp. 249-254, 2010.
"Fast 3D Mapping by Matching Planes Extracted from Range Sensor Point-Clouds", Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on, 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): IEEE Press, 2009.
"The Jacobs map analysis toolkit", Workshop on experimental methodology and benchmarking in robotics research (RSS 2008), 2008.
"The Jacobs Test Arena for Safety, Security, and Rescue Robotics (SSRR)", WS on Performance Evaluation and Benchmarking for Intelligent Robots and Systems, Intern. Conf. on Intelligent Robots and Systems (IROS): IEEE Press, 2007.
"Optimized Octtree Datastructure and Access Methods for 3D Mapping", IEEE Safety, Security, and Rescue Robotics (SSRR): IEEE Press, 2007.