Publications of Udo Frese

 

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2016     Back to top

Mohammad Razavi, Lei Wang, Udo Frese, Gabriel Zachmann (2016). Novel Morphological Features for Non-mass-like Breast Lesion Classiffication on DCE-MRI. In Proceedings of the International Workshop on Machine Learning in Medical Imaging , Athens.   detail
Dennis Schüthe, Felix Wenk, Udo Frese (2016). "Dynamics Calibration of a Redundant Flexible Joint Robot based on Gyroscopes and Encoders". In ICINCO 2016 – 13th International Conference on Informatics in Control, Automation and Robotics. SCITEPRESS.   detail     www   pdf
René Wagner, Udo Frese, Berthold Bäuml (2016). Unified Treatment of Dense and Sparse Data in Graph-based Least Squares. In Proceedings of the IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS 2016), Cancun, Mexico.   detail     www

2015     Back to top

Dennis Schüthe, Udo Frese (2015). Optimal Control with State and Command Limits for a Simulated Ball Batting Task. In 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 3988–3994, IEEE.   detail     www   pdf
Heng Wang, Shoudong Huang, Kasra Khosoussi, Udo Frese, Gamini Dissanayake, Bingbing Liu (2015). Dimensionality reduction for point feature SLAM problems with spherical covariance matrices. In Automatica, Vol. 51, pp. 149–157.   detail   pdf
Felix Wenk, Udo Frese (2015). Posture from Motion. In Intelligent Robots and Systems (IROS), 2015 IEEE/RSJ International Conference on, pp. 280–285.   detail     www   pdf

2014     Back to top

Oliver Birbach, Udo Frese, Berthold Bäuml (2014). Rapid calibration of a multi-sensorial humanoid's upper body: An automatic and self-contained approach. In International Journal of Robotics Research. DOI: 10.1177/0278364914548201.   detail
Christoph Hertzberg, Udo Frese (2014). Detailed Modeling and Calibration of a Time-of-Flight Camera. In Joaquim Filipe, Oleg Gusikhin, Kurosh Madani, Jurek Sasiadek (Eds.), ICINCO 2014 -- 11th International Conference on Informatics in Control, Automation and Robotics, pp. 568–579. SCITEPRESS Digital Library.   detail   pdf
Tim Laue, Oliver Birbach, Tobias Hammer, Udo Frese (2014). An Entertainment Robot for Playing Interactive Ball Games. In Sven Behnke, Manuela Veloso, Arnoud Visser, Rong Xiong (Eds.), RoboCup 2013: Robot World Cup XVII, Vol. 8371, pp. 171–182, Lecture Notes in Artificial Intelligence. Springer, Heidelberg.   detail   pdf
Judith Müller, Udo Frese, Thomas Röfer, Rodolphe Gelin, Alexandre Mazel (2014). GRASPY – Object Manipulation with NAO. In Gearing up and Accelerating Cross-Fertilization between Academic and Industrial Robotics Research in Europe, Vol. 94, (p. 177–195). , Springer Tracts in Advanced Robotic. Springer, Heidelberg.   detail   pdf
Dennis Schüthe, Udo Frese (2014). Task Level Optimal Control of a Simulated Ball Batting Robot. In Joaquim Filipe, Oleg Gusikhin, Kurosh Madani, Jurek Sasiadek (Eds.), ICINCO 2014 – 11th International Conference on Informatics in Control, Automation and Robotics, Vol. 2, pp. 45–56. SCITEPRESS.   detail     www   pdf
René Wagner, Udo Frese, Berthold Bäuml (2014). Graph SLAM with Signed Distance Function Maps on a Humanoid Robot. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Chicago, Illinois.   detail     www   pdf

2013     Back to top

Oliver Birbach, Udo Frese (2013). A Precise Tracking Algorithm Based on Raw Detector Responses and a Physical Motion Model. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2013), Karlsruhe, Germany, pp. 4746–4751.   detail   pdf
Henry Carrillo, Oliver Birbach, Holger Täubig, Berthold Bäuml, Udo Frese, José A. Castellanos (2013). On the Criteria for Configurations Selection in Robot Calibration. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2013), Karlsruhe, Germany, pp. 3638–3644.   detail   pdf
Udo Frese, Tim Laue, Oliver Birbach, Thomas Röfer (2013). (A) Vision for 2050 - Context-Based Image Understanding for a Human-Robot Soccer Match. In Electronic Communications of the EASST, Vol. 62.   detail   pdf
Dr.-Ing Bernd Gersdorf, Prof. Dr.-Ing Udo Freese (2013). A Kalman Filter for Odometry Using a Wheel Mounted Inertial Sensor. In Jean-Louis Ferrier, Oleg Gusikhin, Kurosh Madani, Jurek Sasiadek (Eds.), ICINCO 2013, 10th International Conference on Informatics in Control, Automation and Robotics, Vol. 1, pp. 388–395. SCITEPRESS – Science and Technology Publications.   detail   pdf
Christoph Hertzberg, René Wagner, Udo Frese, Lutz Schröder (2013). Integrating Generic Sensor Fusion Algorithms with Sound State Representations through Encapsulation of Manifolds. In Information Fusion, 14 (1), pp. 57–77. Available online 14 September 2011.   detail     www   pdf
René Wagner, Udo Frese, Berthold Bäuml (2013). 3D Modeling, Distance and Gradient Computation for Motion Planning: A Direct GPGPU Approach. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Karlsruhe, Germany.   detail   pdf
René Wagner, Udo Frese, Berthold Bäuml (2013). Real-Time Dense Multi-Scale Workspace Modeling on a Humanoid Robot. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Tokyo, Japan.   detail   pdf
Heng Wang, Shoudong Huang, Udo Frese, Gamini Dissanayake (2013). The Nonlinearity Structure of Point Feature SLAM Problems with Spherical Covariance Matrices. In Automatica, Vol. 49, pp. 3112–3119.   detail
René Weller, Udo Frese, Gabriel Zachmann (2013). Parallel Collision Detection in Constant Time. In Workshop on Virtual Reality Interaction and Physical Simulation (VRIPHYS). Best Paper Award.   detail   pdf

2012     Back to top

Oliver Birbach, Berthold Bäuml, Udo Frese (2012). Automatic and Self-Contained Calibration of a Multi-Sensorial Humanoid’s Upper Body. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Saint Paul, USA, pp. 3103–3108.   detail     www   pdf
Christoph Hertzberg, René Wagner, Udo Frese (2012). Tutorial on Quick and Easy Model Fitting Using the SLoM Framework. In Stachniss, Cyrill, Schill, Kerstin, Uttal, David (Eds.), Spatial Cognition VIII, Vol. 7463, pp. 128–142, Lecture Notes in Computer Science. Springer-Verlag Berlin Heidelberg.   detail     www   pdf
Shoudong Huang, Heng Wang, Udo Frese, Gamini Dissanayake (2012). On the Number of Local Minima to the Point Feature Based SLAM Problem. In IEEE International Conference on Robotics and Automation (ICRA), Saint Paul, Minnesota, USA.   detail   pdf
Judith Müller, Udo Frese, Thomas Röfer (2012). Grab a Mug - Object Detection and Grasp Motion Planning with the Nao Robot. In Proceedings of the IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS 2012), Osaka, Japan, pp. 349–356. IEEE.   detail     www   pdf
Holger Täubig, Udo Frese (2012). A New Library for Real-time Continuous Collision Detection. In Proceedings of the 7th German Conference on Robotics (ROBOTIK 2012), pp. 108–112. VDE.   detail     www   pdf
Holger Täubig, Berthold Bäuml, Udo Frese (2012). Real-time Continuous Collision Detection for Mobile Manipulators - A General Approach. In Proceedings of the IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS 2012), Osaka, Japan. IEEE.   detail     www   pdf
Holger Täubig, Udo Frese, Christoph Hertzberg, Christoph Lüth, Stefan Mohr, Elena Vorobev, Dennis Walter (2012). Guaranteeing Functional Safety: Design for Provability and Computer-Aided Verification. In Autonomous Robots, 32 (3), pp. 303–331.   detail   pdf

2011     Back to top

Berthold Bäuml, Florian Schmidt, Thomas Wimboeck, Oliver Birbach, Alexander Dietrich, Matthias Fuchs, Werner Friedl, Udo Frese, Christoph Borst, Markus Grebenstein, Oliver Eiberger, Gerd Hirzinger (2011). Catching Flying Balls and Preparing Coffee: Humanoid Rollin' Justin Performs Dynamic and Sensitive Tasks . In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Shanghai, China.   detail
Oliver Birbach, Udo Frese, Berthold Bäuml (2011). Realtime Perception for Catching a Flying Ball with a Mobile Humanoid . In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Shanghai, China.   detail   pdf
Oliver Birbach, Udo Frese (2011). Estimation and Prediction of Multiple Flying Balls Using Probability Hypothesis Density Filtering. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), San Francisco, California , pp. 3426–3433.   detail   pdf
Berthold Bäuml, Oliver Birbach, Thomas Wimböck, Udo Frese, Alexander Dietrich, Gerd Hirzinger (2011). Catching Flying Balls with a Mobile Humanoid: System Overview and Design Considerations. In Proceedings of the IEEE-RAS International Conference on Humanoid Robots, Bled, Slovenia, pp. 513–520.   detail   pdf
Christoph Hertzberg, René Wagner, Oliver Birbach, Tobias Hammer, Udo Frese (2011). Experiences in Building a Visual SLAM System from Open Source Components. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Shanghai, China.   detail     www   pdf
Christian Mandel, Udo Frese (2011). Annelid - a Novel Design for Actuated Robots Inspired by Ringed Worm`s Locomotion. In Achim J. Lilienthal, Tom Duckett (Eds.), Proceedings of the 5th European Conference on Mobile Robots (ECMR 2011), pp. 265–270.   detail   pdf
Holger Täubig, Berthold Bäuml, Udo Frese (2011). Real-time Swept Volume and Distance Computation for Self Collision Detection. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011), San Francisco, California, USA. IEEE. (Best Student Paper Award Finalist).   detail   pdf
René Wagner, Oliver Birbach, Udo Frese (2011). Rapid Development of Manifold-Based Graph Optimization Systems for Multi-Sensor Calibration and SLAM. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), San Francisco, California.   detail   pdf

2010     Back to top

U. Frese, R. Wagner, T. Röfer (2010). A SLAM Overview from a User's Perspective. In KI-Zeitschrift, 24 (3).   detail     www   pdf
U. Frese (Ed.) (2010). Themenheft Simultaenous Localization and Mapping. Springer.   detail
Giorgio Grisetti, Rainer Kümmerle, Cyrill Stachniss, Udo Frese, Christoph Hertzberg (2010). Hierarchical Optimization on Manifolds for Online 2D and 3D Mapping. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Anchorage, Alaska.   detail   pdf
S. Huang, Y. Lai, U. Frese, G. Dissanayake (2010). How far is SLAM from a linear least squares problem?. In Proceedings of the International Conference on Intelligent Robots and Systems.   detail   pdf

2009     Back to top

O. Birbach, J. Kurlbaum, T. Laue, U. Frese (2009). Tracking of Ball Trajectories with a Free Moving Camera-Inertial Sensor. In Luca Iocchi, Hitoshi Matsubara, Alfredo Weitzenfeld, Changjiu Zhou (Eds.), RoboCup 2008: Robot Soccer World Cup XII, Vol. 5399, pp. 49–60, Lecture Notes in Computer Science. Springer.   detail     www   pdf
Oliver Birbach, Udo Frese (2009). A Multiple Hypothesis Approach for a Ball Tracking System. In J. Piater, B. Schiele, M. Fritz (Eds.), Computer Vision Systems, Vol. 5815, pp. 435–444, Lecture Notes in Computer Science. Springer.   detail   pdf
Udo Frese, Holger Täubig (2009). Verfahren zur Vermeidung von Kollisionen gesteuert beweglicher Teile einer Anlage. Deutsches Forschungszentrum für Künstliche Intelligenz, Robert-Hooke-Straße 5, 28359 Bremen. Technischer Report.   detail   pdf
U. Frese (2009). Gutachten zur Spezifikation des Odometriealgorithmus. Deutsches Forschungszentrum für Künstliche Intelligenz, Robert-Hooke-Straße 5, 28359 Bremen. Industrieauftrag der Fa. Deuta Werke, Bergisch-Gladbach.   detail
U. Frese, T. Laue, O. Birbach, J. Kurlbaum, T. Röfer (2009). (A) Vision for 2050 Context-Based Image Understanding for a Human-Robot Soccer Match. In Festkolloquium for Bernd Krieg-Brückner's 60th birthday. (Extended Version of Frese & Laue, ICINCO 2008).   detail     www   pdf
() (2009). Inside Data Association. In U. Frese, J. Neira (Eds.), Robotics and Autonomous Systems, Special Issue, 57 (12). Elsevier, Amsterdam.   detail
Udo Frese, Daniel Hausmann, Christoph Lüth, Holger Täubig, Dennis Walter (2009). The Importance of Being Formal. In M. Huhn, H. Hungar (Eds.), Proceedings of the First Workshop on Certification of Safety-Critical Software Controlled Systems. International Workshop on Certification of Safety-Critical Software Controlled Systems (SafeCert-08), located at ETAPS'08, March 29, Budapest, Hungary, 238 (4), pp. 57–70, Electronic Notes in Theoretical Computer Science. Elsevier Science.   detail   pdf
S. Haddadin, T. Laue, U. Frese, S. Wolf, A. Albu-Schäffer, G. Hirzinger (2009). Kick it with Elasticity: Safety and Performance in Human-Robot Soccer. In Robotics and Autonomous Systems, Special Issue on Humanoid Soccer Robots, 57 (8), pp. 761–775.   detail   pdf
Shoudong Huang, Zhan Wang, Gamini Dissanayake, Udo Frese (2009). Iterated D-SLAM Map Joining -- Evaluating its performance in terms of consistency, accuracy and efficiency. In Autonomous Robots, special issue on Characterizing Mobile Robot Localization and Mapping, 27 (4), pp. 409–429.   detail   pdf
J. Kurlbaum, U. Frese (2009). A Benchmark Dataset for Data Association. SFB/TR 8 Spatial Cognition. SFB/TR 8 Technical Report 017-02/2009.   detail   pdf
Thomas Röfer, Christian Mandel, Axel Lankenau, Bernd Gersdorf, Udo Frese (2009). 15 Years of Rolland. In Berthold Hoffmann, Christoph Lüth, Till Mossakowski, Lutz Schröder (Eds.), Festschrift Dedicated to Bernd Krieg-Brückner on the Occasion of his 60th Birthday, pp. 255–272. Sichere Kognitive Systeme, DFKI Bremen.   detail   pdf

2008     Back to top

U. Frese, T. Laue (2008). (A) VISION FOR 2050: The Road Towards Image Understanding for a Human–Robot Soccer Match. In Proceedings of the 5th International Conference on Informatics in Control, Automation and Robotics. (read Frese et al., ECEASST 2013 instead).   detail     www   pdf
S. Huang, Z. Wang, G. Dissanayake, U. Frese (2008). Iterated SLSJF: A Sparse Local Submap Joining Algorithm with Improved Consistency. In Proceedings of the Australasian Conference on Robotics and Automation, Canberaa.   detail   pdf
M. Gissler, U. Frese, M. Teschner (2008). Exact Distance Computation for Deformable Objects. In Proc. Computer Animation and Social Agents.   detail   pdf
Christoph Lüth, Udo Frese, Holger Täubig, Dennis Walter, Daniel Hausmann (2008). SAMS Sicherheitskomponente für Autonome Mobile Serviceroboter. In Proc. ROBOTIK 2008, Vol. 2012, VDI-Berichte. VDI-Verlag.   detail   pdf
Udo Frese, Daniel Hausmann, Christoph Lüth, Holger Täubig, Dennis Walter (2008). Zertifizierung einer Sicherungskomponente mittels durchgängig formaler Modellierung. In Software Engineering 2008, Lecture Notes in Informatics. GI.   detail   pdf

2007     Back to top

U. Frese (2007). Efficient 6-DOF SLAM with Treemap as a Generic Backend. In Proceedings of the Internation Conference on Robotics and Automation, Rome.   detail     www   pdf
Sami Haddadin, Tim Laue, Udo Frese, Gerd Hirzinger (2007). Foul 2050: Thoughts on Physical Interaction in Human-Robot Soccer. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2007).   detail     www   pdf
C.Mandel, U.Frese (2007). Comparison of Wheelchair User Interfaces for the Paralysed: Head-Joystick vs. Verbal Path Selection from an offered Route-Set. In Proceedings of the 3rd European Conference on Mobile Robots (ECMR 2007).   detail   pdf
C. Mandel, U. Frese, T. Röfer (2007). Design Improvements for Proportional Control of Autonomous Wheelchairs Via 3DOF Orientation Tracker. In Proceedings of the 9th International Work-Conference on Artificial Neural Networks (IWANN'2007), Lecture Notes in Computer Science. Springer, Berlin.   detail   pdf
C. Mandel, T. Röfer, U. Frese (2007). Applying a 3DOF Orientation Tracker as a Human-Robot Interface for Autonomous Wheelchairs. In Proceedings of the 10th International Conference on Rehabilitation Robotics.   detail   pdf

2006     Back to top

U. Frese (2006). A Discussion of Simultaneous Localization and Mapping. In Autonomous Robots, 20 (1), pp. 25–42.   detail     www   pdf
U. Frese (2006). Treemap: An $O(log n)$ Algorithm for Indoor Simultaneous Localization and Mapping. In Autonomus Robots, 21 (2), pp. 103–122.   detail     www   pdf
U. Frese, L. Schröder (2006). Closing a Million-Landmarks Loop. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing.   detail     www   pdf
U. Frese (2006). Treemap: An $O(log n)$ Algorithm for Indoor Simultaneous Localization and Mapping. No. 006-03/2006. Universität Bremen, SFB/TR 8 Spatial Cognition. Companion report to the Autonomous Robots article with the same title..   detail     www   pdf
U. Frese (2006). Using Treemap as a Generic Least Square Backend for 6-DOF SLAM. In Procedings of the Spatial Cognition V Workshop Robotic 3D Environment Cognition. (read the ICRA07 paper instead).   detail     www   pdf
Christian Mandel, Udo Frese, Thomas Röfer (2006). Robot Navigation based on the Mapping of Coarse Qualitative Route Descriptions to Route Graphs. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2006).   detail   pdf
R.J. Ross, C. Mandel, J. Bateman, S. Hui, U. Frese (2006). Towards Stratified Spatial Modeling for Communication and Navigation. In From Sensors to Human Spatial Concepts at IROS 2006, Beijing.   detail

2005     Back to top

U. Frese, P. Larsson, T. Duckett (2005). A Multilevel Relaxation Algorithm for Simultaneous Localization and Mapping. In IEEE Transactions on Robotics, 21 (2), pp. 1–12.   detail     www   pdf
U. Frese (2005). Treemap: An $O(log n)$ Algorithm for Simultaneous Localization and Mapping. In C. Freksa (Ed.), Spatial Cognition IV, pp. 455–476. Springer Verlag. read the Autonomous Robots paper instead.   detail     www   pdf
U. Frese (2005). A Proof for the Approximate Sparsity of SLAM Information Matrices. In Proceedings of the IEEE International Conference on Robotics and Automation, pp. 331–337.   detail     www   pdf
B. Krieg-Brückner, U. Frese, K. Lüttich, C. Mandel, T. Mossakowski, R. Ross (2005). Specification of an Ontology for Route Graphs. In C. Freksa, M. Knauff, B. Krieg-Brückner, B. Nebel, T. Barkowsky (Eds.), Spatial Cognition IV, Vol. 3343, pp. 390–412, Lecture Notes in Artificial Intelligence. Springer-Verlag, D-69121 Heidelberg, Germany.   detail     www   pdf

2004     Back to top

U. Frese (2004). An $O(log n)$ Algorithm for Simulateneous Localization and Mapping of Mobile Robots in Indoor Environments. University of Erlangen-Nürnberg.   detail     www   pdf

2003     Back to top

U. Frese, T. Duckett (2003). A Multigrid Approach for Accelerating Relaxation-based SLAM. In Proceedings of the IJCAI Workshop Reasoning with Uncertainty in Robotics, pp. 39–46. (read Transactions paper instead).   detail     www   pdf
U. Frese, T. Duckett (2003). A Multigrid Approach for Accelerating Relaxation-based SLAM. In 18. Fachgespräch Autonome mobile Systeme. (read Transactions paper instead).   detail     www   pdf
A. Albu-Schäffer, Ch. Ott, U. Frese, G. Hirzinger (2003). Cartesian Impedance Control of Redundant Robots: Recent Results with the DLR-Light-Weight-Arms. In Proceedings of the International Conference on Robotics and Automation, Taipei, pp. 3704–3709.   detail   pdf

2001     Back to top

U. Frese, G. Hirzinger (2001). Simultaneous Localization and Mapping - A Discussion. In Proceedings of the IJCAI Workshop on Reasoning with Uncertainty in Robotics, pp. 17–26. (read the Autonomous Robots paper instead).   detail     www   pdf
U. Frese, B. Bäuml, S. Haidacher, G. Schreiber, I. Schaefer, M. Hähnle, G. Hirzinger (2001). Off-the-Shelf Vision for a Robotic Ball Catcher. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems.   detail     www   pdf

2000     Back to top

U. Frese, M. Hörmann, B. Bäuml, G. Hirzinger (2000). Globally Consistent Visual Localization without a-priori Map (German). In automatisierungstechnik, Vol. 3. (german).   detail   pdf

1999     Back to top

U. Frese, M. Hörmann, B. Bäuml, G. Hirzinger (1999). Global konsistente visuelle Lokalisation ohne vorgegebene Karte. In 15. Fachgespräch Autonome Mobile Systeme (AMS99). (read automatisierungstechnik paper instead).   detail   pdf
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UdoFresePublications (zuletzt geändert am 2008-10-24 15:27:00 durch UdoFrese)