7 accepted papers
Robots need to know where they are in the world to operate effectively without human support. One common first step for precise robot localization is visual place recognition. It is a challenging problem, especially when the output is required in an online fashion, and the current state-of-the-art a
Light Detection and Ranging (LiDAR) technology has proven to be an important part of many robotics systems. Surface normals estimated from LiDAR data are commonly used for a variety of tasks in such systems. As most of the today’s mechanical LiDAR sensors produce sparse data, estimating normals from…
The ability to build maps is a key functionality for the majority of mobile robots. A central ingredient to most mapping systems is the registration or alignment of the recorded sensor data. In this paper, we present a general methodology for photometric registration that can deal with multiple diff…
3D laser scanners are frequently used sensors for mobile robots or autonomous cars and they are often used to perceive the static as well as dynamic aspects in the scene. In this context, matching 3D point clouds of objects is a crucial capability. Most matching methods such as numerous flavors of I…
Object segmentation from 3D range data is an important topic in mobile robotics. A robot navigating in a dynamic environment needs to be aware of objects that might change or move. A segmentation of the laser scans into individual objects is typically the first processing step before a further analy…
In autonomous exploration tasks, robots usually rely on a SLAM system to build a map of the environment online and then use it for navigation purposes. Although there has been substantial progress in robustly building accurate maps, these systems cannot guarantee the consistency of the resulting env
Quickly finding a free parking spot that is close to a desired target location can be a difficult task. This holds for human drivers and autonomous cars alike. In this paper, we investigate the problem of predicting the occupancy of parking spaces and exploiting this information during route plannin…