Contact

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Research Topics

• Model Fitting

• Semantic Mapping

• 3D Geometric Reasoning

• Laser Segmentation

Current Research Projects

• EnvMod : We focus on point cloud based representation and reasoning techniques for building accurate and meaningful 3D maps for mobile robots in both indoor and outdoor environments. One of our main application and deployment scenario is the Assistive Kitchen. However, all our methods were carefully crafted with generality in mind, therefore they have been also successfully applied to outdoor urban, aerial, and underwater datasets.

• CoP : The project aims at the unification of vision-based sensing in the CoP (Cognitive Perception) in the learning and planning system. On the one hand, CoP manages the interpretation of different kinds of sensors and on the other hand it automatically acquires and maintains the knowledge about the world and objects in the world. CoP selects sensors and sensor interpretation algorithms based on their expected utility. To this end, CoP learns and improves intersensor and inter-algorithmic models for method seleciton from experience. Especially the vision system, the major sensor we use, provides several automatic model improving techniques. Improved models accelerate the perception process and provide more robust results.

Teaching General

Research Thread

The old webpage of our research thread can be found here to get a general impression. We are currently in a transition period, but will upload our latest results as soon as possible. In the mean time feel free to contact us!

Selected Publications

• Zoltan-Csaba Marton , Dejan Pangercic , Nico Blodow , Jonathan Kleinehellefort, Michael Beetz , General 3D Modelling of Novel Objects from a Single View, 2010, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS),

  (BibTeX) (PDF)

• Zoltan-Csaba Marton , Radu Bogdan Rusu , Dominik Jain , Ulrich Klank , Michael Beetz , Probabilistic Categorization of Kitchen Objects in Table Settings with a Composite Sensor, 2009, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS),

  (BibTeX) (PDF)

• Radu Bogdan Rusu , Zoltan-Csaba Marton , Nico Blodow , Andreas Holzbach, Michael Beetz , Model-based and Learned Semantic Object Labeling in 3D Point Cloud Maps of Kitchen Environments, 2009, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS),

  (BibTeX) (PDF)

• Zoltan-Csaba Marton , Radu Bogdan Rusu , Michael Beetz , On Fast Surface Reconstruction Methods for Large and Noisy Datasets, 2009, Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Kobe, Japan, May 12-17,

  (BibTeX) (PDF)

• Radu Bogdan Rusu , Zoltan-Csaba Marton , Nico Blodow , Mihai Emanuel Dolha , Michael Beetz , Towards 3D Point Cloud Based Object Maps for Household Environments, 2008, Robotics and Autonomous Systems Journal (Special Issue on Semantic Knowledge),

  (BibTeX) (PDF)