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Real-Time Computer Vision Group Publications

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	Judith Müller, Udo Frese, Thomas Röfer. 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. IEEE.
	René Wagner, Udo Frese, Berthold Bäuml. 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 2013), Karlsruhe, Germany.

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.
	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.
	Christoph Hertzberg, René Wagner, Udo Frese, Lutz Schröder (2013). Integrating Generic Sensor Fusion Algorithms with Sound State Representation through Encapsulation of Manifolds. In Information Fusion, 14 (1), pp. 57–77. Available online 14 September 2011.

2012 Back to top

	Oliver Birbach, Berthold Bäuml, Udo Frese (2012). Automatic and Self-Contained Calibration of a Multi-Sensorial Humanoids Upper Body. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Saint Paul, USA, pp. 3103–3108.
	T. J. de Haas, T. Laue, T. Röfer (2012). A Scripting-based Approach to Robot Behavior Engineering Using Hierarchical Generators. In Proc. of the International Conference on Robotics and Automation (ICRA-2012). IEEE.
	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.
	T. Laue, T. Röfer, K. Gillmann, F. Wenk, C. Graf, T. Kastner (2012). B-Human 2011 - Eliminating Game Delays. In T. Röfer, N. M. Meyer, Jesús Savage, Uluç Saranli (Eds.), RoboCup 2011: Robot Soccer World Cup XV, Vol. 7416, pp. 25–36, Lecture Notes in Artificial Intelligence. Springer, Heidelberg.
	Thora Tenbrink, Tommaso D'Odorico, Christoph Hertzberg, Sacide Güzin Mazman, Chiara Meneghetti, Nina Reshöft, Jinlong Yang (2012). Tutorial report: Understanding spatial thought through language use. In Journal of Spatial Information Science, 5 (1), pp. 107–114.
	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.
	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.
	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.

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.
	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.
	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.
	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.
	A. Burchardt, T. Laue, T. Röfer (2011). Optimizing Particle Filter Parameters for Self-Localization. In J. Ruiz-del-Solar, E. Chown, P.G. Ploeger (Eds.), RoboCup 2010: Robot Soccer World Cup XIV, Vol. 6556, pp. 145–156, Lecture Notes in Artificial Intelligence. Springer, Heidelberg.
	Alexander Dietrich; Thomas Wimböck; Holger Täubig; Alin Albu-Schäffer; Gerd Hirzinger (2011). Extensions to Reactive Self-Collision Avoidance for Torque and Position Controlled Humanoids. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA-11), May 9-13, Shanghai, China. IEEE.
	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.
	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.
	J. Müller, T. Laue, T. Röfer (2011). Kicking a Ball - Modeling Complex Dynamic Motions for Humanoid Robots. In J. Ruiz-del-Solar, E. Chown, P.G. Ploeger (Eds.), RoboCup 2010: Robot Soccer World Cup XIV, Vol. 6556, pp. 109–120, Lecture Notes in Artificial Intelligence. Springer, Heidelberg.
	A. Seekircher, T. Laue, T. Röfer (2011). Entropy-based Active Vision for a Humanoid Soccer Robot. In J. Ruiz-del-Solar, E. Chown, P.G. Ploeger (Eds.), RoboCup 2010: Robot Soccer World Cup XIV, Vol. 6556, pp. 1–12, Lecture Notes in Artificial Intelligence. Springer, Heidelberg. Best Paper Award.
	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).
	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 2011), San Francisco, California.

2010 Back to top

	A. Fabisch, T. Laue, T. Röfer (2010). Robot Recognition and Modeling in the RoboCup Standard Platform League. In C. Zhou, E. Pagello, S. Behnke, E. Menegatti, T. Röfer, P. Stone (Eds.), Proceedings of the Fourth Workshop on Humanoid Soccer Robots in conjunction with the 2010 IEEE-RAS International Conference on Humanoid Robots.
	U. Frese, R. Wagner, T. Röfer (2010). A SLAM Overview from a User's Perspective. In KI-Zeitschrift, 24 (3).
	U. Frese (Ed.) (2010). Themenheft Simultaenous Localization and Mapping. Springer.
	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.
	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.
	Stefan Zickler, Tim Laue, Oliver Birbach, Mahisorn Wongphati, Manuela Veloso (2010). SSL-Vision: The Shared Vision System for the RoboCup Small Size League. In Jacky Baltes, Michail G. Lagoudakis, Tadashi Naruse, Saeed Shiry (Eds.), RoboCup 2009: Robot Soccer World Cup XIII, Lecture Notes in Artificial Intelligence. Springer.
	Christian Mandel, Tim Laue (2010). Particle Filter-based Position Estimation in Road-Networks using Digital Elevation Models. In Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems.

2009 Back to top

	R. Wagner (2009). Autonomous Outdoor Navigation with a Robotic R/C Car. Diplomarbeit. Universität Bremen.
	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.
	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.
	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.
	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.
	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).
	() (2009). Inside Data Association. In U. Frese, J. Neira (Eds.), Robotics and Autonomous Systems, Special Issue, 57 (12). Elsevier, Amsterdam.
	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.
	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.
	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.
	J. Kurlbaum, U. Frese (2009). A Benchmark Dataset for Data Association. SFB/TR 8 Spatial Cognition. SFB/TR 8 Technical Report 017-02/2009.

2008 Back to top

	Christoph Hertzberg (2008). A Framework for Sparse, Non-Linear Least Squares Problems on Manifolds. Diplomarbeit, Universität Bremen.
	U. Frese, T. Laue (2008). (A) VISION FOR 2050: The Road Towards Image Understanding for a HumanRobot Soccer Match. In Proceedings of the 5th International Conference on Informatics in Control, Automation and Robotics. (read Frese et al., Festkolloquium 2009 instead).
	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.
	M. Gissler, U. Frese, M. Teschner (2008). Exact Distance Computation for Deformable Objects. In Proc. Computer Animation and Social Agents.
	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.

2007 Back to top

	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).
	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).
	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.
	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.

2006 Back to top

	U. Frese (2006). A Discussion of Simultaneous Localization and Mapping. In Autonomous Robots, 20 (1), pp. 25–42.
	U. Frese (2006). Treemap: An $O(log n)$ Algorithm for Indoor Simultaneous Localization and Mapping. In Autonomus Robots, 21 (2), pp. 103–122.
	U. Frese, L. Schröder (2006). Closing a Million-Landmarks Loop. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing.
	C. Mandel, U. Frese, T. 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), pp. 205–210.
	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.

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.
	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.

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.

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).
	U. Frese, T. Duckett (2003). A Multigrid Approach for Accelerating Relaxation-based SLAM. In 18. Fachgespräch Autonome mobile Systeme. (read Transactions paper instead).
	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.

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).
	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.

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).

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).
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