2015

Bastian Steder, Michael Ruhnke, Rainer Kümmerle, and Wolfram Burgard.
Maximum Likelihood Remission Calibration for Groups of Heterogeneous Laser Scanners.
In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA). 2015.
Details.

2014

Rainer Kümmerle, Michael Ruhnke, Bastian Steder, Cyrill Stachniss, and Wolfram Burgard.
Autonomous Robot Navigation in Highly Populated Pedestrian Zones.
Journal of Field Robotics, 2014.
Details. Download: Online Version

F. Endres, C. Sprunk, R. Kümmerle, and W. Burgard.
A Catadioptric Extension for RGB-D Cameras.
In Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS). 2014.
Details. Download: CAD, Data Sets, and Code

E. Ilg, R. Kümmerle, W. Burgard, and T. Brox.
Reconstruction of Rigid Body Models from Motion Distorted Laser Range Data Using Optical Flow.
In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA). Hong Kong, China, 2014.
Details.

2013

R Kümmerle, M. Ruhnke, B. Steder, C. Stachniss, and W. Burgard.
A Navigation System for Robots Operating in Crowded Urban Environments.
In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA). 2013.
Details.

Rainer Kümmerle.
State Estimation and Optimization for Mobile Robot Navigation.
PhD Thesis, Albert-Ludwigs-University of Freiburg, Department of Computer Science, April 2013.
Details. Download: FreiDok

2012

K. M. Wurm, H. Kretzschmar, R. Kümmerle, C. Stachniss, and W. Burgard.
Identifying Vegetation from Laser Data in Structured Outdoor Environments.
Robotics and Autonomous Systems, (0): - , 2012. In Press.
Details.

R. Kümmerle, G. Grisetti, and W. Burgard.
Simultaneous Parameter Calibration, Localization, and Mapping.
Advanced Robotics, 26(17):2021-2041, 2012.
Details.

G. Grisetti, R. Kümmerle, and K. Ni.
Robust Optimization of Factor Graphs by using Condensed Measurements.
In Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS). Vilamoura, Portugal, October 2012.
Details.

M. Ruhnke, R. Kümmerle, G. Grisetti, and W. Burgard.
Highly Accurate 3D Surface Models by Sparse Surface Adjustment.
In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA). St. Paul, MN, USA, May 2012.
Details.

2011

R. Kümmerle, G. Grisetti, C. Stachniss, and W. Burgard.
Simultaneous Parameter Calibration, Localization, and Mapping for Robust Service Robotics.
In Proc. of the IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO). Half Moon Bay, CA, USA, October 2011.
Details.

M. Ruhnke, R. Kümmerle, G. Grisetti, and W. Burgard.
Range Sensor Based Model Construction by Sparse Surface Adjustment.
In Proc. of the IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO). Half Moon Bay, CA, USA, October 2011.
Details.

R. Kümmerle, G. Grisetti, and W. Burgard.
Simultaneous Calibration, Localization, and Mapping.
In Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS). San Francisco, CA, USA, September 2011.
Details.

R. Kümmerle, G. Grisetti, H. Strasdat, K. Konolige, and W. Burgard.
g2o: A General Framework for Graph Optimization.
In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA). Shanghai, China, May 2011.
Details. Download: Open source implementation (stable) Open source implementation (devel)

M. Ruhnke, R. Kümmerle, G. Grisetti, and W. Burgard.
Highly Accurate Maximum Likelihood Laser Mapping by Jointly Optimizing Laser Points and Robot Poses.
In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA). Shanghai, China, May 2011.
Details.

R. Kümmerle, B. Steder, C. Dornhege, A. Kleiner, G. Grisetti, and W. Burgard.
Large Scale Graph-based SLAM using Aerial Images as Prior Information.
Journal of Autonomous Robots, 30(1):25-39, 2011.
Details. Download: Online Version

2010

G. Grisetti, R. Kümmerle, C. Stachniss, and W. Burgard.
A Tutorial on Graph-Based SLAM.
Intelligent Transportation Systems Magazine, IEEE, 2(4):31-43, 2010.
Details. Download: Online Version

K. Konolige, G. Grisetti, R. Kümmerle, W. Burgard, B. Limketkai, and R. Vincent.
Efficient Sparse Pose Adjustment for 2D Mapping.
In Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS). Taipei, Taiwan, October 2010.
Details. Download: 2D Data sets Movie (6.6 MB)

G. Grisetti, R. Kümmerle, C. Stachniss, U. Frese, and C. Hertzberg.
Hierarchical Optimization on Manifolds for Online 2D and 3D Mapping.
In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA). Anchorage, AK, USA, May 2010.
Details. Download: Open source implementation - HOG-Man

2009

R. Kümmerle, B. Steder, C. Dornhege, M. Ruhnke, G. Grisetti, C. Stachniss, and A. Kleiner.
On Measuring the Accuracy of SLAM Algorithms.
Journal of Autonomous Robots, 27(4):387-407, 2009.
Details. Download: Evaluation Software and Datasets Online Version

K.M. Wurm, R. Kümmerle, C. Stachniss, and W. Burgard.
Improving Robot Navigation in Structured Outdoor Environments by Identifying Vegetation from Laser Data.
In Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS). St. Louis, MO, USA, October 2009.
Details. Download: Xvid Avi (5 MB)

W. Burgard, C. Stachniss, G. Grisetti, B. Steder, R. Kümmerle, C. Dornhege, M. Ruhnke, A. Kleiner, and Juan D. Tardós.
A Comparison of SLAM Algorithms Based on a Graph of Relations.
In Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS). St. Louis, MO, USA, October 2009.
Details. Download: Xvid Avi (3 MB)

R. Kümmerle, B. Steder, C. Dornhege, A. Kleiner, G. Grisetti, and W. Burgard.
Large Scale Graph-based SLAM using Aerial Images as Prior Information.
In Proceedings of Robotics: Science and Systems (RSS). Seattle, WA, USA, June 2009.
Details. Download: Xvid Avi (53 MB)

R. Kümmerle, D. Hähnel, D. Dolgov, S. Thrun, and W. Burgard.
Autonomous Driving in a Multi-level Parking Structure.
In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA). Kobe, Japan, May 2009, pages 3395-3400.
Details. Download: Xvid Avi (9 MB) WMV (11 MB)

2008

R. Kümmerle, R. Triebel, P. Pfaff, and W. Burgard.
Monte Carlo Localization in Outdoor Terrains using Multilevel Surface Maps.
Journal of Field Robotics (JFR), 25:346-359, June - July 2008.
Details. Download: Xvid Avi (15 MB) Xvid Avi (19 MB)

2007

P. Pfaff, R. Kümmerle, D. Joho, C. Stachniss, R. Triebel, and W. Burgard.
Navigation in Combined Outdoor and Indoor Environments using Multi-Level Surface Maps.
In Workshop on Safe Navigation in Open and Dynamic Environments at the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS). San Diego, CA, USA, November 2007.
Details.

R. Kümmerle, P. Pfaff, R. Triebel, and W. Burgard.
Active Monte Carlo Localization in Outdoor Terrains using Multi-Level Surface Maps.
In Fachgespräch Autonome Mobile Systeme (AMS). Kaiserslautern, Germany, October 2007, pages 22-28.
Details.

R. Kümmerle, R. Triebel, P. Pfaff, and W. Burgard.
Monte Carlo Localization in Outdoor Terrains using Multi-Level Surface Maps.
In Proc. of the International Conference on Field and Service Robotics (FSR). Chamonix, France, 2007.
Details. Download: Xvid Avi (15 MB) Xvid Avi (19 MB)

A. Kleiner and R. Kümmerle.
Genetic MRF model optimization for real-time victim detection in Search and Rescue.
In Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS). San Diego, CA, USA, November 2007, pages 3025-3030.
Details. Download: Mpeg (5 MB)

R. Kümmerle.
Techniken für die Navigation mit Surface-Maps.
Diplomarbeit, Albert-Ludwigs-Universität, Institut für Informatik, Freiburg, 2007. In German.
Details.

2006

A. Kleiner, C. Dornhege, R. Kümmerle, M. Ruhnke, B. Steder, B. Nebel, P. Doherty, M. Wzorek, P. Rudol, G. Conte, S. Durante, and D. Lundstrom.
RoboCupRescue - Robot League Team RescueRobots Freiburg (Germany).
In RoboCup 2006 (CDROM Proceedings), Team Description Paper, Rescue Robot League. Bremen, Germany, 2006.
Details.

2005

A. Kleiner, B. Steder, C. Dornhege, D. Höfer, D. Meyer-Delius, J. Prediger, J. Stückler, K. Glogowski, M. Thurner, M. Luber, M. Schnell, R. Kümmerle, T. Burk, T. Bräuer, and B. Nebel.
RoboCupRescue - Robot League Team RescueRobots Freiburg (Germany).
In RoboCup 2005 (CDROM Proceedings), Team Description Paper, Rescue Robot League. Osaka, Japan, 2005.
Details.