Publications

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Thesis

Gian Diego Tipaldi, Looking Inside for Mapping the Outside: Introspective Simultaneous Localization and Mapping, : University of Rome La Sapienza, 2009.

tipaldi09phdthesis.pdf (4.58 MB)

Journal Article

Matthias Luber, Gian Diego Tipaldi, and Kai O. Arras, "Place-Dependent People Tracking", International Journal of Robotics Research, vol. 30, no. 3, March, 2011.

luberIJRR11.pdf (5.13 MB)

Mladen Mazuran, Wolfram Burgard, and Gian Diego Tipaldi, "Nonlinear Factor Recovery for Long-Term SLAM", International Journal of Robotics Research, 2015.

mazuran15ijrr.pdf (1.76 MB)

Gian Diego Tipaldi, Daniel Meyer-Delius, and Wolfram Burgard, "Lifelong localization in changing environments", International Journal of Robotics Research, vol. 32, no. 14, December, 2013.

tipaldi13ijrr.pdf (5.1 MB)

Giorgio Grisetti, Gian Diego Tipaldi, Cyrill Stachniss, Wolfram Burgard, and Daniele Nardi, "Fast and Accurate SLAM with Rao-Blackwellized Particle Filters}", Robotics and Autonomous Systems, Special Issue on Simultaneous Localization and Map Building, vol. 55, no. 1, pp. 30–38, 2007.

grisetti07ras.pdf (277.05 KB)

Conference 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", Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2014.

ito14icra-final.pdf (868.39 KB)

Daniele Calisi, Alessandro Farinelli, Giorgio Grisetti, Luca Iocchi, Daniele Nardi, Stefano Pellegrini, Gian Diego Tipaldi, and Vittorio A. Ziparo, "Uses of Contextual Knowledge in Mobile Robots", AI*IA 2007: Artificial Intelligence and Human-Oriented Computing, vol. 4733: Springer-Verlag, pp. 543–554, 2007.

Mladen Mazuran, Gian Diego Tipaldi, Luciano Spinello, Wolfram Burgard, and Cyrill Stachniss, "A Statistical Measure for Map Consistency in SLAM", Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2014.

mazuran14icra.pdf (910.01 KB)

Giorgio Grisetti, Gian Diego Tipaldi, Cyrill Stachniss, Wolfram Burgard, and Daniele Nardi, "Speeding Up Rao Blackwellized SLAM", Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Orlando, USA, 2006.

grisetti06icra.pdf (244.24 KB)

Matthias Luber, Gian Diego Tipaldi, and Kai O. Arras, "Spatially Grounded Multi-hypothesis Tracking of People", Proceedings of the ICRA '09 Workshop on People Detection and Tracking, Kobe, Japan, 2009.

luber09icraWS.pdf (384.53 KB)

Gian Diego Tipaldi, Daniel Meyer-Delius, Max Beinhofer, and Wolfram Burgard, "Simultaneous Localization and Dynamic State Estimation in Reconfigurable Environments", IEEE/RSJ IROS Workshop on Metrics and Methodologies for Autonomous Robot Teams in Logistics, 2011.

tipaldi11irosWS.pdf (212.3 KB)

Pratik Agarwal, Gian Diego Tipaldi, Luciano Spinello, Cyrill Stachniss, and Wolfram Burgard, "Robust Map Optimization using Dynamic Covariance Scaling", Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2013.

Best student paper finalist

agarwal13icra.pdf (5.67 MB)

Federico Boniardi, Bahram Behzadian, Wolfram Burgard, and Gian Diego Tipaldi, "Robot Navigation in Hand-Drawn Sketched Maps", Proceedings of the European Conference on Mobile Robotics (ECMR), 2015.

boniardi15ecmr.pdf (21.6 MB)

Mladen Mazuran, Federico Boniardi, Wolfram Burgard, and Gian Diego Tipaldi, "Relative Topometric Localization in Globally Inconsistent Maps", Proceedings of the International Symposium on Robotics Research (ISRR), 2015.

mazuran15isrr.pdf (558.56 KB)

Jörg Röwekämper, 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", Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Villamoura, Protugal, 2012.

sprunk12iros.pdf (982.58 KB)

Gian Diego Tipaldi, and Kai O. Arras, "Please do not disturb! Minimum interference coverage for social robots", Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), San Francisco, USA, pp. 1968–1973, 2011.

tipaldi11iros.pdf (1.22 MB)

Gian Diego Tipaldi, and Kai O. Arras, "Planning Problems for Social Robots", Proceedings of the International Conference on Automated Planning and Scheduling (ICAPS), Freiburg, Germany, 2011.

tipaldiICAPS11.pdf (1.76 MB)

Matthias Luber, Gian Diego Tipaldi, and Kai O. Arras, "Place-Dependent People Tracking", Proceedings of the International Symposium on Robotics Research (ISRR), Lucerne, CH, 2009.

luber09isrr.pdf (1.81 MB)

Matthias Luber, Johannes A. Stork, Gian Diego Tipaldi, and Kai O. Arras, "People Tracking with Human Motion Predictions from Social Forces", Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Anchorage, USA, 2010.

luber10icra.pdf (1.35 MB)

Jürgen Hess, Gian Diego Tipaldi, and Wolfram Burgard, "Null Space Optimization for Effective Coverage of 3D Surfaces using Redundant Manipulators", Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Villamoura, Protugal, 2012.

hess12iros.pdf (1.65 MB)

Dominik Joho, Gian Diego Tipaldi, Nikolas Engelhard, Cyrill Stachniss, and Wolfram Burgard, "Nonparametric Bayesian Models for Unsupervised Scene Analysis and Reconstruction", Proceedings of Robotics: Science and Systems (RSS), 2012.

joho12rss.pdf (1.63 MB)

Mladen Mazuran, Gian Diego Tipaldi, Luciano Spinello, and Wolfram Burgard, "Nonlinear Graph Sparsification for SLAM", Proceedings of Robotics: Science and Systems (RSS), Berkeley, 2014.

mazuran14rss.pdf (838.95 KB)

Gian Diego Tipaldi, and Fabio Ramos, "Motion Clustering and Estimation with Conditional Random Fields", Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), St.Louis, USA, 2009.

tipaldi09iros.pdf (346.53 KB)

Bahram Behzadian, Pratik Agarwal, Wolfram Burgard, and Gian Diego Tipaldi, "Monte Carlo Localization in Hand-Drawn Maps", Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015.

bahram15iros.pdf (2.55 MB)

Gian Diego Tipaldi, Daniel Meyer-Delius, Max Beinhofer, and Wolfram Burgard, "Lifelong Localization and Dynamic Map Estimation in Changing Environments", RSS Workshop on Robots in Clutter: Manipulation, Perception and Navigation in Human Environments, 2012.

tipaldi12rss.pdf (1.54 MB)

Christoph Sprunk, Gian Diego Tipaldi, Andrea Cherubini, and Wolfram Burgard, "Lidar-based Teach-and-Repeat of Mobile Robot Trajectories", Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Tokyo Big Sight, Japan, 2013.

sprunk13iros.pdf (2.01 MB)

Mladen Mazuran, Christoph Sprunk, Wolfram Burgard, and Gian Diego Tipaldi, "LexTOR: Lexicographic Teach Optimize and Repeat Based on User Preferences", Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Seattle, 2015.

mazuran15icra.pdf (1.63 MB)

Jörg Röwekämper, Gian Diego Tipaldi, and Wolfram Burgard, "Learning to Guide Random Tree Planners in High Dimensional Spaces", Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Tokyo Big Sight, Japan, 2013.

roewekaemper13iros.pdf (433.67 KB)

Andrea Censi, and Gian Diego Tipaldi, "Lazy Localization using the Frozen Time Smoother", Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Pasadena, CA, pp. 3167–3172, May, 2008.

censi08icra.pdf (1.13 MB)

Joop van de Ven, Fabio Ramos, and Gian Diego Tipaldi, "An Integrated Probabilistic Model for Scan-Matching, Moving Object Detection and Motion Estimation", Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Anchorage, USA, 2010.

vandeven10icra.pdf (558.02 KB)

Gian Diego Tipaldi, and Kai O. Arras, "I want my coffee hot! Learning to find people under spatio-temporal constraints", Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Shanghai, China, 2011.

tipaldiICRA11.pdf (1.5 MB)

Gian Diego Tipaldi, Alessandro Farinelli, Luca Iocchi, and Daniele Nardi, "Heterogeneous Feature State Estimation with Rao-Blackwellized Particle Filters", Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Rome, Italy, 2007.

tipaldi07icra.pdf (216.57 KB)

Gian Diego Tipaldi, Luciano Spinello, and Wolfram Burgard, "Geometrical FLIRT Phrases for Large Scale Place Recognition in 2D Range Data", Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2013.

tipaldi13icra.pdf (1.49 MB)

Gian Diego Tipaldi, Manuel Braun, and Kai O. Arras, "FLIRT: Interest Regions for 2D Range Data with Applications to Robot Navigation", Proceedings of the International Symposium on Experimental Robotics (ISER), Dehli, India, 2010.

tipaldi10iser.pdf (3.21 MB)

Gian Diego Tipaldi, and Kai O. Arras, "FLIRT – Interest Regions for 2D Range Data", Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Anchorage, USA, 2010.

tipaldi10icra.pdf (2.01 MB)

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", Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2014.

agarwal14icra_dcs.pdf (2.05 MB)

Aamir Ahmad, Gian Diego Tipaldi, Pedro Lima, and Wolfram Burgard, "Cooperative Robot Localization and Target Tracking based on Least Square Minimization", Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2013.

ahmad13icra.pdf (606.86 KB)

Daniele Calisi, Alessandro Farinelli, Giorgio Grisetti, Luca Iocchi, Daniele Nardi, Stefano Pellegrini, Gian Diego Tipaldi, and Vittorio A. Ziparo, "Contextualization in Mobile Robots", Proceedings of the ICRA '07 Workshop on Semantic Information in Robotics, Rome, Italy, 2007.

Luca Iocchi, Stefano Pellegrini, and Gian Diego Tipaldi, "Building multi-level planar maps integrating LRF, stereo vision and IMU sensors", Proceedings of the IEEE International Workshop on Safety, Security and Rescue Robotics (SSRR), Rome, Italy, 2007.

iocchi07ssrr.pdf (5.41 MB)

Matthias Luber, Gian Diego Tipaldi, and Kai O. Arras, "Better Models for People Tracking", Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Shanghai, China, 2011.

luberICRA11.pdf (1.31 MB)

Jörg Röwekämper, Michael Ruhnke, Bastian Steder, Wolfram Burgard, and Gian Diego Tipaldi, "Automatic Extrinsic Calibration of Multiple Laser Range Sensors with Little Overlap", Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2015.

roewekaemper15icra.pdf (881.58 KB)

Stefano di Lucia, Gian Diego Tipaldi, and Wolfram Burgard, "Attitude Stabilization Control of an Aerial Manipulator using Quaternion-Based Backstepping Approach", Proceedings of the European Conference on Mobile Robotics (ECMR), 2015.

dilucia15ecmr.pdf (389.61 KB)

Gian Diego Tipaldi, Giorgio Grisetti, and Wolfram Burgard, "Approximated Covariance Estimation in Graphical Approaches to SLAM", Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), San Diego, USA, 2007.

tipaldi07iros.pdf (990.86 KB)

Benjamin Suger, Gian Diego Tipaldi, Luciano Spinello, and Wolfram Burgard, "An Approach to Solving Large-Scale SLAM Problems with a Small Memory Footprint", Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2014.

Best paper finalist

suger14icraFinal.pdf (1.55 MB)

Jörg Röwekämper, Benjamin Suger, Wolfram Burgard, and Gian Diego Tipaldi, "Accurate Localization with Respect to Moving Objects via Multiple-Body Registration", Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015.

roewekaemper15iros.pdf (1.47 MB)