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2008

  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.
To appear, 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.
To appear, 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.
To appear, 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.
To appear. paper (8 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, 2008.
Accepted for publication.
 
  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
Georges Giralt Award
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)
Award of the German Engeneering Society (VDI)