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2014

  Pratik Agarwal, Wolfram Burgard, and Cyrill Stachniss
A Survey of Geodetic Approaches to Mapping and the Relationship to Graph-Based SLAM.
Robotics and Automation Magazine, 2014.
paper (preprint)
 
  Fabrizio Nenci, Luciano Spinello and Cyrill Stachniss
Effective Compression of Range Data Streams for Remote Robot Operations using H.264.
In Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2014.
paper
  Olga Vysotska, Barbara Frank, Istvan Ulbert, Oliver Paul, Patrick Ruther, Cyrill Stachniss, and Wolfram Burgard
Automatic Channel Selection and Neural Signal Estimation across Channels of Neural Probes.
In Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2014.
paper
 
  Barbara Frank, Cyrill Stachniss, Rüdiger Schmedding, Matthias Teschner, and Wolfram Burgard
Learning object deformation models for robot motion planning.
Robotics and Autonomous Systems, 2014.
paper (preprint) | paper@publisher
 
  Tayyab Naseer, Luciano Spinello, Wolfram Burgard, and Cyrill Stachniss
Robust Visual Robot Localization Across Seasons using Network Flows.
In Proc. of the Conf. on the Association for the Advancement of Artificial Intelligence (AAAI) Quebec, Canada, 2014.
paper
 
  Pratik Agarwal, Wolfram Burgard, and Cyrill Stachniss
Helmert's and Bowie's Geodetic Mapping Methods and Their Relation to Graph-Based SLAM.
In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, China, 2014.
paper
 
  Mladen Mazuran, Gian Diego Tipaldi, Luciano Spinello, Wolfram Burgard, and Cyrill Stachniss
A Statistical Measure for Map Consistency in SLAM.
In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, China, 2014.
paper
 
  Pratik Agarwal, Giorgio Grisetti, Gian Diego Tipaldi, Luciano Spinello, Wolfram Burgard, and Cyrill Stachniss
Experimental Analysis of Dynamic Covariance Scaling for Robust Map Optimization Under Bad Initial Estimates.
In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, China, 2014.
paper
 
  Stefan Osswald, Henrik Kretzschmar, Wolfram Burgard, and Cyrill Stachniss
Learning to Give Route Directions from Human Demonstrations.
In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, China, 2014.
paper
 
  Nichola Abdo, Luciano Spinello, Wolfram Burgard, and Cyrill Stachniss
Inferring What to Imitate in Manipulation Actions by Using a Recommender System.
In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, China, 2014.
paper
 
  Seigo Ito, Felix Endres, Markus Kuderer, Gian Diego Tipaldi, Cyrill Stachniss, and Wolfram Burgard
W-RGB-D: Floor-Plan-Based Indoor Global Localization Using a Depth Camera and WiFi.
In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, China, 2014.
 
  Cyrill Stachniss and Wolfram Burgard
Particle Filters for Robot Navigation.
Foundations and Trends in Robotics, Vol. 3, Number 4, pages 211-282,
doi: 10.1561/2300000013, 2012, published 2014.
paper@publisher
 

2013

 
  Igor Bogoslavskyi, Olga Vysotska, Jacopo Serafin, Giorgio Grisetti, and Cyrill Stachniss
Efficient Traversability Analysis for Mobile Robots using the Kinect Sensor.
In Proc. of the European Conference on Mobile Robots (ECMR), Barcelona, Spain, 2013.
paper
 
  Wolfram Burgard and Cyrill Stachniss
Gestatten, Obelix!
Forschung -- Das Magazin der Deutschen Forschungsgesellschaft, Volume 1, 2013.
paper
 
  Nichola Abdo, Henrik Kretzschmar, Luciano Spinello, and Cyrill Stachniss
Learning Manipulation Actions from a Few Demonstrations.
In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), Karlsruhe, Germany, 2013.
paper
 
  Rainer Kuemmerle, Michael Ruhnke, Bastian Steder, Cyrill Stachniss, and Wolfram Burgard
A Navigation System for Robots Operating in Crowded Urban Environments.
In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), Karlsruhe, Germany, 2013.
paper
 
  Pratik Agarwal, Gian Diego Tipaldi, Luciano Spinello, Cyrill Stachniss, and Wolfram Burgard
Robust Map Optimization Using Dynamic Covariance Scaling.
In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), Karlsruhe, Germany, 2013.
paper
 
  Pratik Agarwal, Gian Diego Tipaldi, Luciano Spinello, Cyrill Stachniss, and Wolfram Burgard
Dynamic Covariance Scaling for Robust Robotic Mapping .
In ICRA Workshop on robust and Multimodal Inference in Factor Graphs, Karlsruhe, Germany, 2013.
paper
 
  Daniel Maier, Cyrill Stachniss, and Maren Bennewitz
Vision-Based Humanoid Navigation Using Self-Supervised Obstacle Detection.
International Journal of Humanoid Robotics, Volume 10(2), 2013..
paper
 
  Kai M. Wurm, Christian Dornhege, Bernhard Nebel, Wolfram Burgard, and Cyrill Stachniss
Coordinating Heterogeneous Teams of Robots using Temporal Symbolic Planning.
Autonomous Robots, Volume 34(4), 2013.
paper
 
  Armin Hornung, Kai M. Wurm, Maren Bennewitz, Cyrill Stachniss, and Wolfram Burgard
OctoMap: An Efficient Probabilistic 3D Mapping Framework Based on Octrees.
Autonomous Robots, Volume 34(3), 2013.
paper | software
 
  Kai Wurm, Henrik Kretzschmar, Rainer Kuemmerle, Cyrill Stachniss, and Wolfram Burgard
Identifying Vegetation from Laser Data in Structured Outdoor Environments.
Robotics and Autonomous Systems, 2013. In press.
paper
 

2012

  Giorgio Grisetti, Luca Iocchi, Bastian Leibe, Vittorio Amos Ziparo, and Cyrill Stachniss
Digitization of Inaccessible Archeological Sites with Autonomous Mobile Robots.
Conference on Robotics Innovation for Cultural Heritage, 2012.
 
  Cyrill Stachniss and Kerstin Schill and David Uttal (Editors)
Spatial Cognition VIII
Springer, August 2012.
 
  Henrik Kretzschmar and Cyrill Stachniss
Information-Theoretic Compression of Pose Graphs for Laser-Based SLAM.
International Journal on Robotics Research (IJRR), Volume 31(11), 2012.
paper@publisher | paper (local copy)
 
  Joerg Roewekaamper, Christoph Sprunk, Gian Diego Tipaldi, Cyrill Stachniss, Patrick Pfaff, and Wolfram Burgard
On the Position Accuracy of Mobile Robot Localization based on Particle Filters combined with Scan Matching.
In Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2012.
paper
 
  Nichola Abdo, Henrik Kertzschmar, and Cyrill Stachniss
From Low-Level Trajectory Demonstrations to Symbolic Actions for Planning.
In Proc. of the ICAPS Workshop on Combining Task and Motion Planning for Real-World Applications (TAMPRA), 2012.
paper
 
  Luciano Spinello, Cyrill Stachniss, and Wolfram Burgard
Scene in the Loop: Towards Adaptation-by-Tracking in RGB-D Data.
In Proc. of the RSS Workshop RGB-D: Advanced Reasoning with Depth Camera, 2012.
paper
 
  Dominik Joho, Diego Tipald, Nickolas Engelhard, Cyrill Stachniss, and Wolfram Burgard
Nonparametric Bayesian Models for Unsupervised Scene Analysis and Reconstruction.
In Proc. of Robotics: Science and Systems (RSS), 2012.
paper
 

2011

  Juergen Sturm, Cyrill Stachniss, and Wolfram Burgard
A probabilistic framework for learning kinematic models of articulated objects.
Journal on Artificial Intelligence Research (JAIR), Volume 41, pages 477-526, 2011.
paper (local copy) | paper@publisher
 
  Maren Bennewitz, Armin Hornung, Daniel Maier, and Cyrill Stachniss
Integrated Perception and Navigation in Complex Indoor Environments.
In Proceedings of the IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS), 2011. Invited.
 
  Rainer Kuemmerle, Giorgio Grisetti, Cyrill Stachniss, and Wolfram Burgard
Simultaneous Parameter Calibration, Localization, and Mapping for Robust Service Robotics.
In Proc. of the IEEE Workshop on Advanced Robotics and its Social Impacts, Half-Moon Bay, CA, USA, 2011.
paper
 
  Cyrill Stachniss and Henrik Kretzschmar
Pose Graph Compression for Laser-based SLAM.
In Proc. of the Int. Symposium of Robotics Research (ISRR),
Flagstaff, AZ, USA, 2011. Invited presentation.
paper
 
  Barbara Frank, Cyrill Stachniss, Nichola Abdo, and Wolfram Burgard.
Efficient motion planning for manipulation robots in environments with deformable objects.
In Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), San Francisco, CA, USA, 2011.
paper
 
  Kai M. Wurm, Daniel Hennes, Dirk Holz, Radu B. Rusu, Cyrill Stachniss, Kurt Konolige, and Wolfram Burgard
Hierarchies of octrees for efficient 3d mapping.
In Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), San Francisco, CA, USA, 2011.
paper
 
  Jakob Ziegler, Henrik Kretzschmar, Cyrill Stachniss, Giorgio Grisetti, and Wolfram Burgard
Accurate human motion capture in large areas by combining imu- and laser-based people tracking.
In Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), San Francisco, CA, USA, 2011.
paper
 
  Henrik Kretzschmar, Cyrill Stachniss, and Giorgio Grisetti
Efficient Information-Theoretic Graph Pruning for Graph-Based SLAM with Laser Range Finders.
In Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), San Francisco, CA, USA, 2011.
paper
 
  Jan Becker, Christian Bersch, Dejan Pangercic, Ben Pitzer, Thomas Ruehr, Bharath Sankaran, Juergen Sturm, Cyrill Stachniss, Michael Beetz, Wolfram Burgard
Mobile Manipulation of Kitchen Containers.
In Proc. of the IROS'11 Workshop on Results, Challenges and Lessons Learned in Advancing Robots with a Common Platform, San Francisco, CA, USA, 2011.
paper
 
  Barbara Frank, Cyrill Stachniss, Nichola Abdo, and Wolfram Burgard.
Using Gaussian Process Regression for Efficient Motion Planning in Environments with Deformable Objects.
In Proc. of the AAAI-11 Workshop on Automated Action Planning for Autonomous Mobile Robots (PAMR), San Francisco, CA, USA, 2011.
paper
 
  Daniel Maier, Maren Bennewitz, and Cyrill Stachniss
Self-supervised Obstacle Detection for Humanoid Navigation Using Monocular Vision and Sparse Laser Data.
In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), Shanghai, China, 2011.
paper
 
  Sahar Asadi, Matteo Reggente, Cyrill Stachniss, Chirstian Plagemann, and Achim J. Lilienthal
Statistical Gas Distribution Modelling using Kernel Methods.
In Intelligent Systems for Machine Olfaction: Tools and Methodologies, IGI Global, 2011.
paper@publisher

2010

  Giorgio Grisetti, Rainer Kuemmerle, Cyrill Stachniss, and Wolfram Burgard
A Tutorial on Graph-based SLAM.
IEEE Transactions on Intelligent Transportation Systems Magazine.
Volume 2(4), pages 31--43, 2010.
paper
 
  Kai M. Wurm, Christian Dornhege, Patrick Eyerich, Cyrill Stachniss, Bernhard Nebel, and Wolfram Burgard
Coordinated Exploration with Marsupial Teams of Robots using Temporal Symbolic Planning.
In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2010.
paper.
 
  Juergen Sturm, Advait Jain, Cyrill Stachniss, Charlie C. Kemp, and Wolfram Burgard
Robustly Operating Articulated Objects based on Experience.
In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2010.
paper.
 
  Barbara Frank, Ruediger Schmedding, Cyrill Stachniss, Matthias Teschner, and Wolfram Burgard
Learning the Elasticity Parameters of Deformable Objects with a Manipulation Robot.
In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2010.
paper.
 
  Wolfram Burgard, Kai M. Wurm, Maren Bennewitz, Cyrill Stachniss, Armin Hornung, Radu B.Rusu, and Kurt Konolige
Modeling the World Around Us: An Eefficient 3d Representation for Personal Robotics.
In Workshop on Defining and Solving Realistic Perception Problems in Personal Robotics at the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Taipei, Taiwan, 2010.
 
  Armin Hornung, Maren Bennewitz, Cyrill Stachniss, Hauke Strasdat, Stefan Oßwald, and Wolfram Burgard
Learning Adaptive Navigation Strategies for Resource-Constrained Systems.
Proc. of the Int. Workshop on Evolutionary and Reinforcement Learning for Autonomous Robot Systems, 2010.
paper.
 
  Juergen Sturm, Kurt Konolige, Cyrill Stachniss, and Wolfram Burgard
3D Pose Estimation, Tracking and Model Learning of Articulated Objects from Dense Depth Video using Projected Texture Stereo.
Proc. of the Workshop RGB-D: Advanced Reasoning with Depth Cameras at Robotics: Science and Systems (RSS), 2010.
paper.
 
  Barbara Frank, Ruediger Schmedding, Cyrill Stachniss, Matthias Teschner, and Wolfram Burgard
Learning Deformable Object Models for Mobile Robot Path Planning using Depth Cameras and a Manipulation Robot.
Proc. of the Workshop RGB-D: Advanced Reasoning with Depth Cameras at Robotics: Science and Systems (RSS), 2010.
paper.
 
  Christian Plagemann, Cyrill Stachniss, Juergen Hess, Felix Endres, and Nathan Franklin
A Nonparametric Learning Approach to Range Sensing from Omnidirectional Vision.
Robots and Autonomous Systems, 58(6), p. 762-772, 2010.
paper.
 
  Giorgio Grisetti, Rainer Kümmerle, Cyrill Stachniss, Udo Frese, and Christoph Hertzberg
Hierarchical Optimization on Manifolds for Online 2D and 3D Mapping.
In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), Anchorage, Alaska, 2010.
paper. Open source implementation available.
 
  Michael Karg, Kai M. Wurm, Cyrill Stachniss, Klaus Dietmayer, and Wolfram Burgard
Consistent Mapping of Multistory Buildings by Introducing Global Constraints to Graph-based SLAM.
In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), Anchorage, Alaska, 2010.
paper.
 
  Juergen Sturm, Kurt Konolige, Cyrill Stachniss, and Wolfram Burgard
Vision-based Detection for Learning Articulation Models of Cabinet Doors and Drawers in Household Environments.
In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), Anchorage, Alaska, 2010.
paper.
 
  Kai Wurm, Armin Hornung, Maren Bennewitz, Cyrill Stachniss, and Wolfram Burgard.
OctoMap: A Probabilistic, Flexible, and Compact 3D Map Representation for Robotic Systems.
In Proc. of the ICRA 2010 Workshop on Best Practice in 3D Perception and Modeling for Mobile Manipulation, Anchorage, Alaska, 2010.
paper, open source implementation.
 
  Henrik Kretzschmar, Giorgio Grisetti, and Cyrill Stachniss
Lifelong Map Learning for Graph-based SLAM in Static Environments.
KI – Kuenstliche Intelligenz, 24 (3), p. 199-206, 2010.
paper
 
  Joerg Mueller, Cyrill Stachniss, Kai O. Arras, and Wolfram Burgard
Socially Inspired Motion Planning for Mobile Robots in Populated Environments.
In Cognitive Systems, Springer Cognitive Systems Monographs, 2010.
In press.
 
  Kai Wurm, Cyrill Stachniss, and Giorgio Grisetti
Bridging the Gap Between Feature- and Grid-based SLAM.
Robotics and Autonomous Systems, 2010.
paper (12 pg, pdf).

2009

  Cyrill Stachniss
Spatial Modeling and Robot Navigation.
Habilitation, Institute of Computer Science, University of Freiburg, 2009.
Habilitation (42 MB, 457 pg)
Habilitation talk on cryptographic hash function (in German) (1.5 MB).
 
  Giorgio Grisetti, Cyrill Stachniss, and Wolfram Burgard
Non-linear Constraint Network Optimization for Efficient Map Learning.
IEEE Transactions on Intelligent Transportation Systems, Volume 10, Issue 3, Pages 428-439, 2009.
paper.
 
  Rainer Kümmerle, Bastian Steder, Christian Dornhege, Michael Ruhnke, Giorgio Grisetti, Cyrill Stachniss, and Alexander Kleiner
On measuring the accuracy of SLAM algorithms.
Autonomous Robots, 2009.
online version, paper.
 
  Hauke Strasdat, Cyrill Stachniss, and Wolfram Burgard
Learning Selection Policies for Mapping in Unknown Environments.
In Proc. of the Int. Symposium of Robotics Research (ISRR),
Zurich, Switzerland, 2009.
paper (draft) (16 pg, pdf).
 
  Kai M. Wurm, Rainer Kuemmerle, Cyrill Stachniss, and Wolfram Burgard
Improving Robot Navigation in Structured Outdoor Environments by Identifying Vegetation from Laser Data.
In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2009.
paper (6 pg, pdf).
 
  Wolfram Burgard, Cyrill Stachniss, Giorgio Grisetti, Bastian Steder, Rainer Kuemmerle, Christian Dornhege, Michael Ruhnke, Alexander Kleiner, and Juan D. Tardos
A Comparison of SLAM Algorithms Based on a Graph of Relations.
In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2009.
paper (7 pg, pdf).
 
  Alexander Schneider, Juergen Sturm, Cyrill Stachniss, Marco Reisert, Hans Burkhardt, and Wolfram Burgard
Object Identification with Tactile Sensors Using Bag-of-Features.
In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2009.
paper (6 pg, pdf).
 
  Cyrill Stachniss
Robotic Mapping and Exploration.
Springer Tracts in Advanced Robotics, Vol. 55, 2009.
ISBN: 978-3-642-01096-5.
link (196 pg)
 
  Felix Endres, Christian Plagemann, Cyrill Stachniss, and Wolfram Burgard
Unsupervised Discovery of Object Classes from Range Data using Latent Dirichlet Allocation.
In Robotics: Science and Systems (RSS), Seattle, WA, USA, 2009.
paper (8 pg, pdf).
 
  Juergen Sturm, Cyrill Stachniss, Vijay Pradeep, Christian Plagemann, Kurt Konolige, and Wolfram Burgard
Towards Understanding Articulated Objects.
In the Workshop "Integrating Mobility and Manipulation" at Robotics: Science and Systems (RSS), Seattle, WA, USA, 2009.
 
  Felix Endres, Juergen Hess, Nathan Franklin, Christian Plagemann, Cyrill Stachniss, and Wolfram Burgard
Estimating Range Information from Monocular Vision.
Poster at the Workshop "Regression in Robotics - Approaches and Applications" at Robotics: Science and Systems (RSS), Seattle, WA, USA, 2009.
poster (pdf).
 
  Juergen Sturm, Vijay Pradeep, Cyrill Stachniss, Christian Plagemann, Kurt Konolige, and Wolfram Burgard
Learning Kinematic Models for Articulated Objects.
In Proc. of the International Conference on Artificial Intelligence (IJCAI), Pasadena, CA, USA, 2009.
paper (6 pg, pdf).
 
  Juergen Sturm, Vijay Pradeep, Cyrill Stachniss, Christian Plagemann, Kurt Konolige, and Wolfram Burgard
Learning Kinematic Models for Articulated Objects.
Poster in the online Proc. of the Snowbird Learning Workshop (Snowbird), 2009, extended abstract (2 pg, pdf).
 
  Cyrill Stachniss, Christian Plagemann, and Achim Lilienthal
Learning Gas Distribution Models using Sparse Gaussian Process Mixtures.
Autonomous Robots, Vol. 26(2), pages 187ff, 2009.
paper (23 pg, pdf).
 
  Cyrill Stachniss, Oscar Martinez Mozos, and Wolfram Burgard
Efficient Exploration of Unknown Indoor Environments using a Team of Mobile Robots.
Annals of Mathematics and Artificial Intelligence, Vol 52(2), pages 205ff, 2009.
paper (26 pg, pdf).
 
  Hauke Strasdat, Cyrill Stachniss, and Wolfram Burgard
Which Landmark is Useful? Learning Selection Policies for Navigation in Unknown Environments.
In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), Kobe, Japan, 2009.
paper (6 pg, pdf).
 
  Barbara Frank, Cyrill Stachniss, Ruediger Schmedding, Wolfram Burgard, Matthias Teschner
Real-world Robot Navigation amongst Deformable Obstacles.
In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), Kobe, Japan, 2009.
paper (6 pg, pdf).
 
  Clemens Eppner, Jürgen Sturm, Maren Bennewitz, Cyrill Stachniss, Wolfram Burgard
Imitation Learning with Generalized Task Descriptions.
In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), Kobe, Japan, 2009.
paper (7 pg, pdf).
 
  Maren Bennewitz, Cyrill Stachniss, Sven Behnke, Wolfram Burgard
Utilizing Reflection Properties of Surfaces to Improve Mobile Robot Localization.
In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), Kobe, Japan, 2009.
paper (6 pg, pdf).

2008

  Bastian Steder, Giorgio Grisetti, Cyrill Stachniss, and Wolfram Burgard
Visual SLAM for Flying Vehicles.
IEEE Transactions on Robotics, Volume 24(5), pages 1088-1093, 2008
paper
 
  Henrik Kretzschmar, Cyrill Stachniss, Christian Plagemann, and Wolfram Burgard
Estimating Landmark Locations from Geo-Referenced Photographs. In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2008.
paper (6 pg, pdf).
 
  Patrick Pfaff, Cyrill Stachniss, Christian Plagemann, and Wolfram Burgard
Efficiently Learning High-dimensional Observation Models for Monte-Carlo Localization using Gaussian Mixtures.
In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2008.
paper (6 pg, pdf).
 
  Kai M. Wurm, Cyrill Stachniss, and Wolfram Burgard
Coordinated Multi-Robot Exploration using a Segmentation of the Environment.
In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2008.
paper (6 pg, pdf).
 
  Cyrill Stachniss, Christian Plagemann, Achim Lilienthal, and Wolfram Burgard
Gas Distribution Modeling Using Sparse Gaussian Process Mixture Models.
Robotics: Science and Systems (RSS), Zurich, Switzerland. 2008.
paper (8 pg, pdf).
 
  Cyrill Stachniss, Maren Bennewitz, Giorgio Grisetti, Wolfram Burgard, and Sven Behnke
How to Learn Accurate Grid Maps with a Humanoid.
In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), Pasadena, CA, USA, 2008.
paper (6 pg, pdf)
 
  Barbara Frank, Markus Becker, Cyrill Stachniss, Matthias Teschner, and Wolfram Burgard
Efficient Path Planning for Mobile Robots in Environments with Deformable Objects.
In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), Pasadena, CA, USA, 2008.
paper (6 pg, pdf)
 
  Christian Plagemann, Felix Endres, Juergen Hess, Cyrill Stachniss, and Wolfram Burgard
Monocular Range Sensing: A Non-Parametric Learning Approach.
In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), Pasadena, CA, USA, 2008.
paper (6 pg, pdf)
 
  Giorgio Grisetti, Dario Lordi Rizzini, Cyrill Stachniss, Edwin Olson, and Wolfram Burgard
Online Constraint Network Optimization for Efficient Maximum Likelihood Map Learning.
In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), Pasadena, CA, USA, 2008.
paper (6 pg, pdf)
 
  Barbara Frank, Markus Becker, Cyrill Stachniss, Matthias Teschner, and Wolfram Burgard
Learning Cost Functions for Mobile Robot Navigation in Environments with Deformable Objects.
Workshop on Path Planning on Cost Maps at the IEEE International Conference on Robotics and Automation (ICRA), Pasadena, CA, USA, 2008.
paper (8 pg, pdf)
 
  Joerg Mueller, Cyrill Stachniss, Kai O. Arras, and Wolfram Burgard
Socially Inspired Motion Planning for Mobile Robots in Populated Environments.
International Conference on Cognitive Systems (CogSys), 2008.
 
  Bastian Steder, Giorgio Grisetti, Slawomir Grzonka, Cyrill Stachniss, and Wolfram Burgard
Estimating Consistent Elevation Maps using Down-Looking Cameras and Inertial Sensors.
In Proc. of the Workshop on Robotic Perception on the International Conference on Computer Vision Theory and Applications, Funchal, Madeira, Portugal, 2008.
 
  Wolfram Burgard, Oliver Brock, and Cyrill Stachniss (Editors)
Robotics: Science and Systems III
MIT Press, March 2008.
ISBN 0262524848
Buy it at Amazon.com

2007

  Wolfram Burgard, Cyrill Stachniss, Dirk Haehnel
Mobile Robot Map Learning from Range Data in Dynamic Environments.
Autonomous Navigation in Dynamic Environments (Editors: C. Laugier and R. Chatila), Springer Tracts in Advanced Robotics, Vol 35, 2007.
paper (27 pg, pdf)
 
  Cyrill Stachniss, Grisetti Giorgio, Wolfram Burgard, and Nicholas Roy
Analyzing Gaussian Proposal Distributions for Mapping with Rao-Blackwellized Particle Filters.
In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2007.
paper (6 pg, pdf)
 
  Grisetti Giorgio, Slawomir Grzonka, Cyrill Stachniss, Patrick Pfaff, and Wolfram Burgard
Efficient Estimation of Accurate Maximum Likelihood Maps in 3D.
In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2007.
paper (7 pg, pdf)
 
  Bastian Steder, Grisetti Giorgio, Cyrill Stachniss, Slawomir Grzonka, Axel Rottmann, and Wolfram Burgard
Learning Maps in 3D using Attitude and Noisy Vision Sensors.
In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2007.
paper (6 pg, pdf)
 
  Batian Steder, Axel Rottmann, Giorgio Grisetti, Cyrill Stachniss, and Wolfram Burgard
Autonomous Navigation for Small Flying Vehicles.
In Workshop on Micro Aerial Vehicles at the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2007.
extended abstract (2 pg, pdf)
 
  Patrick Pfaff, Rainer Kuemmerle, Dominik Joho, Cyrill Stachniss, Rudolph Triebel, and Wolfram 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 International Conference on Intelligent Robots and Systems (IROS), 2007.
paper (9 pg, pdf)
 
  Kai M. Wurm, Cyrill Stachniss, Giorgio Grisetti, and Wolfram Burgard
Improved Simultaneous Localization and Mapping using a Dual Representation of the Environment.
In Proc. of the European Conference on Mobile Robots (ECMR), 2007.
paper (6 pg, pdf)
 
  Dominik Joho, Cyrill Stachniss, Patrick Pfaff, and Wolfram Burgard
Autonomous Exploration for 3D Map Learning.
In Fachgespräche Autonome Mobile Systeme (AMS), 2007.
paper (7 pg, pdf)
 
  Hauke Strasdat, Cyrill Stachniss, Maren Bennewitz, and Wolfram Burgard
Visual Bearing-Only Simultaneous Localization and Mapping with Improved Feature Matching.
In Fachgespräche Autonome Mobile Systeme (AMS), 2007.
paper (7 pg, pdf)
 
  Cyrill Stachniss, Giorgio Grisetti, Oscar Martinez Mozos, and Wolfram Burgard
Efficiently Learning Metric and Topological Maps with Autonomous Service Robots.
In it - Information Technology, Vol 4, pages 232-238, 2007.
 
  Giorgio Grisetti, Cyrill Stachniss, Slawomir Grzonka, and Wolfram Burgard
A Tree Parameterization for Efficiently Computing Maximum Likelihood Maps using Gradient Descent.
Robotics: Science and Systems (RSS),
Atlanta, GA, USA, 2007.
paper (8 pg, pdf)
 
  Patrick Pfaff, Rudolph Triebel, Cyrill Stachniss, Pierre Lamon, Wolfram Burgard, and Roland Siegwart
Towards Mapping of Cities.
In Proc. of the IEEE International Conference on Robotics and Automation (ICRA),
Rome, Italy, 2007.
paper (7 pg, pdf)
 
  Oscar Martinez Mozos, Cyrill Stachniss, Axel Rottmann, Wolfram Burgard
Using AdaBoost for Place Labelling and Topological Map Building.
Robotics Research (Editors: S. Thrun, R. Brooks, and H. Durrant-Whyte), Springer Tracts in Advanced Robotics, Vol 28, pages 453-476, 2007.
ISBN: 978-3-540-48110-2.
online version, local paper (20 pg, pdf)
 
  Giorgio Grisetti, Cyrill Stachniss, and Wolfram Burgard
Improved Techniques for Grid Mapping with Rao-Blackwellized Particle Filters.
Transactions on Robotics, Volume 23, pages 34-46, 2007
paper (12 pg, pdf)
 
  Giorgio Grisetti, Gian D. Tipaldi, Cyrill Stachniss, Wolfram Burgard, and Daniele Nardi
Fast and Accurate SLAM with Rao-Blackwellized Particle Filters.
Robotics and Autonomous Systems, Volume 55, pages 30-38, 2007
paper (16 pg, pdf)

2006

  Daniel Meier, Cyrill Stachniss, and Wolfram Burgard
Cooperative Exploration With Multiple Robots Using Low Bandwidth Communication.
Informationsfusion in der Mess- und Sensortechnik (Editors: J. Beyerer, F. Puente Leon, and K.-D. Sommer), pages 145--157, 2006.
paper (7 pg, pdf)
 
  Pierre Lamon, Cyrill Stachniss, Rudolph Triebel, Patrick Pfaff, Christian Plagemann, Giorgio Grisetti, Sascha Kolski, Wolfram Burgard, and Roland Siegwart
Mapping with an Autonomous Car
In Proc. of the Workshop on Safe Navigation in Open and Dynamic Environments at the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS),
Beijing, China, 2006.
paper (11 pg, pdf)
 
  Sascha Kolski, Dave Furgeson, Cyrill Stachniss, and Roland Siegwart
Autonomous Driving in Dynamic Environments
In Proc. of the Workshop on Safe Navigation in Open and Dynamic Environments at the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS),
Beijing, China, 2006.
paper (8 pg, pdf)
 
  Athuro Gil, Oscar Reinoso, Oscar Martinez-Mozos, Cyrill Stachniss, and Wolfram Burgard
Improving Data Association in Vision-based SLAM
In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS),
Beijing, China, 2006.
 
  David Sonntag, Sibylle Stachniss-Carp, Cyrill Stachniss, Vitus Stachniss.
Determination of Root Canal Curvatures before and after Canal Preparation (Part II): A Method based on Numeric Calculus.
Aust Endod J (Australian Endodontic Journal).
Volume 32, pages 16-25, 2006.
paper (10 pg, pdf)
 
  Cyrill Stachniss
Exploration and Mapping with Mobile Robots.
PhD Thesis, Institute of Computer Science, University of Freiburg, April 2006.
thesis (244 pg, pdf) | More information
EURON Georges Giralt Award for the best robotics thesis defended in 2006
Wolfgang-Gentner PhD Award
 
  Cyrill Stachniss, Oscar Martinez-Mozos, and Wolfram Burgard
Speeding-Up Multi-Robot Exploration by Considering Semantic Place Information.
In Proc. of the IEEE International Conference on Robotics and Automation (ICRA),
pages 1692-1697, Orlando, FL, USA, 2006.
paper (6 pg, pdf)
 
  Giorgio Grisetti, Gian Diego Tipaldi, Cyrill Stachniss, Wolfram Burgard, and Daniele Nardi
Speeding-Up Rao-Blackwellized SLAM.
In Proc. of the IEEE International Conference on Robotics and Automation (ICRA),
pages 442-447, Orlando, FL, USA, 2006.
(Better look to the JRAS paper)
 
  Christian Plagemann, Cyrill Stachniss, and Wolfram Burgard
Efficient Failure Detection for Mobile Robots using Mixed-Abstraction Particle Filters.
In Proc. of the European Robotics Symposium (EUROS),
Palermo, Italy, 2006.
paper (14 pg, pdf)
 
  Maren Bennewitz, Cyrill Stachniss, Wolfram Burgard, and Sven Behnke
Metric Localization with Scale-Invariant Visual Features using a Single Perspective Camera.
In Proc. of the European Robotics Symposium (EUROS),
Palermo, Italy, 2006.
paper (14 pg, pdf, 816kB)

2005

  Cyrill Stachniss, Oscar Martinez-Mozos, Axel Rottmann, and Wolfram Burgard
Semantic Labeling of Places.
In Proc. of the Int. Symposium of Robotics Research (ISRR),
San Francisco, CA, USA, 2005.
paper (13 pg, pdf, 1.8 MB)
 
  Daniel Meier, Cyrill Stachniss, and Wolfram Burgard
Coordinating Multiple Robots During Exploration Under Communication With Limited Bandwidth.
In Proc. of the European Conference on Mobile Robots (ECMR),
pages 26-31, Ancona, Italy, 2005.
paper (6 pg, pdf, 230 kB)
 
  Cyrill Stachniss, Dirk Haehnel, Wolfram Burgard, and Giorgio Grisetti
On Actively Closing Loops in Grid-based FastSLAM.
Advanced Robotics - The Int. Journal of the Robotics Society of Japan (RSJ), 2005
Volume 19, number 10, pages 1059-1080.
paper (20 pg, pdf, 785 kB)
 
  Cyrill Stachniss and Wolfram Burgard
Mobile Robot Mapping and Localization in Non-Static Environments.
In Proc. of the National Conference on Artificial Intelligence (AAAI),
pages 1324-1329, Pittsburgh, PA, USA, 2005.
paper (6 pg, pdf, 280 kB)
 
  Axel Rottmann, Oscar Martinez Mozos, Cyrill Stachniss, and Wolfram Burgard
Semantic Place Classification of Indoor Environments with Mobile Robots using Boosting.
In Proc. of the National Conference on Artificial Intelligence (AAAI),
pages 1306-1311, Pittsburgh, PA, USA, 2005.
paper (6 pg, pdf, 920 kB)
 
  Cyrill Stachniss, Giorgio Grisetti, and Wolfram Burgard
Information Gain-based Exploration Using Rao-Blackwellized Particle Filters.
In Proc. of Robotics: Science and Systems (RSS),
pages 65-72, Cambridge, MA, USA, 2005.
paper (8 pg, pdf, 520 kB)
 
  Wolfram Burgard, Mark Moors, Cyrill Stachniss, and Frank Schneider
Coordinated Multi-Robot Exploration.
IEEE Transactions on Robotics, 2005.
Volume 21, number 3, pages 376-378.
paper (12 pg, pdf, 760 kB)
 
  P. Trahanias, W. Burgard, A. Argyros, D. Hähnel, H. Baltzakis, P. Pfaff, and C. Stachniss
TOURBOT and WebFAIR: Web-Operated Mobile Robots
for Tele-Presence in Populated Exhibitions.
IEEE Robotics & Automation Magazine, 2005
Volume 12, number 2, pages 77-89.
paper (preprint) (30 pg, pdf, 1.6 MB) | paper (RAM print)
  Wolfram Burgard, Cyrill Stachniss, and Giorgio Grisetti
Information Gain-based Exploration Using Rao-Blackwellized Particle Filters.
In Proc. of the Learning Workshop (Snowbird), Snowbird, UT, 2005.
extended abstract (2 pg, pdf, 270 kB)
 
  Cyrill Stachniss, Giorgio Grisetti, and Wolfram Burgard
Recovering Particle Diversity in a Rao-Blackwellized Particle Filter for SLAM After Actively Closing Loops.
In Proc. of the IEEE International Conference on Robotics and Automation (ICRA),
pages 667-672, Barcelona, Spain, 2005.
paper (6 pg, pdf, 330 kB)
 
  Oscar Martinez Mozos, Cyrill Stachniss, and Wolfram Burgard
Supervised Learning of Places from Range Data using Adaboost.
In Proc. of the IEEE International Conference on Robotics and Automation (ICRA),
pages 1742-1747, Barcelona, Spain, 2005.
paper (6 pg, pdf, 690 kB)
Finalist - ICRA Best Student Paper
 
  Giorgio Grisetti, Cyrill Stachniss, and Wolfram Burgard
Improving Grid-based SLAM with Rao-Blackwellized Particle Filters by Adaptive Proposals and Selective Resampling.
In Proc. of the IEEE International Conference on Robotics and Automation (ICRA),
pages 2443-2448, Barcelona, Spain, 2005.
paper (updated version, 6 pg, pdf, 500 kB) | Get the source code of the mapper!

2004

  Cyrill Stachniss, Dirk Haehnel, and Wolfram Burgard
Exploration with Active Loop-Closing for FastSLAM.
In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS),
pages 1505-1510, Sendai, Japan, 2004.
paper (6 pg, pdf, 442 kB)
ICASE - IROS'04 Best Paper Award on Application
 
  Cyrill Stachniss, Giorgio Grisetti, Dirk Haehnel, and Wolfram Burgard
Improved Rao-Blackwellized Mapping by Adaptive Sampling and Active Loop-Closure.
In Proc. of the Workshop on Self-Organization of AdaptiVE behavior (SOAVE),
pages 1-15, Ilmenau, Germany, 2004. Invited presentation.
paper (15 pg, pdf, 620 kB)
 
  Cyrill Stachniss, Dirk Haehnel, and Wolfram Burgard
Grid-based FastSLAM and Exploration with Active Loop-Closing
In Online Proc. of the Dagstuhl Seminar on Robot Navigation (Dagstuhl Seminar 03501),
Dagstuhl, Germany, 2003.

2003

  Cyrill Stachniss and Wolfram Burgard
Mapping and Exploration with Mobile Robots using Coverage Maps.
In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS),
pages 476-481, Las Vegas, NV, USA, 2003.
paper (pdf, 897 kB)
 
  Cyrill Stachniss and Wolfram Burgard
Using Coverage Maps to Represent the Environment of Mobile Robots.
In Proc. of the European Conference on Mobile Robots (ECMR),
pages 59-64, Radziejowice, Poland, 2003.
paper (pdf, 845 kB)
 
  Cyrill Stachniss and Wolfram Burgard
Exploring Unknown Environments with Mobile Robots using Coverage Maps.
In Proc. of the International Conference on Artificial Intelligence (IJCAI),
pages 1127-1132, Acapulco, Mexico, 2003.
paper (pdf, 605 kB)

2002

  Cyrill Stachniss and Wolfram Burgard
An Integrated Approach to Goal-directed Obstacle Avoidance under Dynamic Constraints for Dynamic Environments.
In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS),
pages 508-513, Lausanne, Switzerland, 2002.
paper (pdf, 500kB)
 
  Cyrill Stachniss
Zielgerichtete Kollisionsvermeidung für mobile Roboter in dynamischen Umgebungen.
Master's Thesis (in German), Univerisity of Freiburg, August 2002.
thesis (pdf, 4 MB)
Awarded by the German Engeneering Society (VDI)