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EnvMod: Automated environment modeling

Our team focuses 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.

Acknowledgements

This project was partly funded by CoTeSys.

Publications

Journal Articles and Book Chapters

Ensembles of Strong Learners for Multi-cue Classification (Zoltan-Csaba Marton, Florian Seidel, Ferenc Balint-Benczedi, Michael Beetz), In Pattern Recognition Letters (PRL), Special Issue on Scene Understandings and Behaviours Analysis, 2012. (In press.) [bib] [pdf]
Furniture Models Learned from the WWW -- Using Web Catalogs to Locate and Categorize Unknown Furniture Pieces in 3D Laser Scans (Oscar Martinez Mozos, Zoltan Csaba Marton, Michael Beetz), In Robotics & Automation Magazine, IEEE, volume 18, 2011. [bib] [pdf]
Combined 2D-3D Categorization and Classification for Multimodal Perception Systems (Zoltan Csaba Marton, Dejan Pangercic, Nico Blodow, Michael Beetz), In The International Journal of Robotics Research, Sage Publications, volume 30, 2011. [bib] [pdf]
Human Action Recognition using Global Point Feature Histograms and Action Shapes (Radu Bogdan Rusu, Jan Bandouch, Franziska Meier, Irfan Essa, Michael Beetz), In Advanced Robotics journal, Robotics Society of Japan (RSJ), 2009. [bib]
Leaving Flatland: Efficient Real-Time 3D Navigation (Radu Bogdan Rusu, Aravind Sundaresan, Benoit Morisset, Kris Hauser, Motilal Agrawal, Jean-Claude Latombe, Michael Beetz), In Journal of Field Robotics (JFR), 2009. [bib]
Towards 3D Point Cloud Based Object Maps for Household Environments (Radu Bogdan Rusu, Zoltan Csaba Marton, Nico Blodow, Mihai Dolha, Michael Beetz), In Robotics and Autonomous Systems Journal (Special Issue on Semantic Knowledge in Robotics), volume 56, 2008. [bib] [pdf]
Robots in the kitchen: Exploiting ubiquitous sensing and actuation (Radu Bogdan Rusu, Brian Gerkey, Michael Beetz), In Robotics and Autonomous Systems Journal (Special Issue on Network Robot Systems), 2008. [bib]

Conference Papers

The SHERPA project: smart collaboration between humans and ground-aerial robots for improving rescuing activities in alpine environments (L. Marconi, C. Melchiorri, M. Beetz, D. Pangercic†, R. Siegwart, S. Leutenegger, R. Carloni, S. Stramigioli, H. Bruyninckx, P. Doherty, A. Kleiner, V. Lippiello, A. Finzi, B. Siciliano, A. Sala, N. Tomatis), In IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), 2012. [bib] [pdf]
Towards Modular Spatio-temporal Perception for Task-adapting Robots (Zoltan-Csaba Marton, Florian Seidel, Michael Beetz), In Postgraduate Conference on Robotics and Development of Cognition (RobotDoC-PhD), a satellite event of the 22nd International Conference on Artificial Neural Networks (ICANN), 2012. [bib]
Object Categorization in Clutter using Additive Features and Hashing of Part-graph Descriptors (Zoltan-Csaba Marton, Ferenc Balint-Benczedi, Nico Blodow, Lucian Cosmin Goron, Michael Beetz), In Proceedings of Spatial Cognition (SC), 2012. [bib] [pdf]
Semantic Object Maps for Robotic Housework - Representation, Acquisition and Use (Dejan Pangercic, Moritz Tenorth, Benjamin Pitzer, Michael Beetz), In 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2012. [bib] [pdf]
A Generalized Framework for Opening Doors and Drawers in Kitchen Environments (Thomas Rühr, Jürgen Sturm, Dejan Pangercic, Michael Beetz, Daniel Cremers), In IEEE International Conference on Robotics and Automation (ICRA), 2012. [bib] [pdf]
Segmenting Cylindrical and Box-like Objects in Cluttered 3D Scenes (Lucian Cosmin Goron, Zoltan Csaba Marton, Gheorghe Lazea, Michael Beetz), In 7th German Conference on Robotics (ROBOTIK), 2012. [bib] [pdf]
Semantic Object Maps for Household Tasks (Michael Beetz, Moritz Tenorth, Dejan Pangercic, Benjamin Pitzer), In 5th International Conference on Cognitive Systems (CogSys 2012), 2012. [bib] [pdf]
Efficient Part-Graph Hashes for Object Categorization (Ferenc Balint-Benczedi, Zoltan-Csaba Marton, Michael Beetz), In 5th International Conference on Cognitive Systems (CogSys), 2012. [bib] [pdf]
Robotic Roommates Making Pancakes (Michael Beetz, Ulrich Klank, Ingo Kresse, Alexis Maldonado, Lorenz Mösenlechner, Dejan Pangercic, Thomas Rühr, Moritz Tenorth), In 11th IEEE-RAS International Conference on Humanoid Robots, 2011. [bib] [pdf]
Autonomous Semantic Mapping for Robots Performing Everyday Manipulation Tasks in Kitchen Environments (Nico Blodow, Lucian Cosmin Goron, Zoltan-Csaba Marton, Dejan Pangercic, Thomas Rühr, Moritz Tenorth, Michael Beetz), In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2011. [bib] [pdf]
Contracting Curve Density Algorithm for Applications in Personal Robotics (Shulei Zhu, Dejan Pangercic, Michael Beetz), In 11th IEEE-RAS International Conference on Humanoid Robots, 2011. [bib] [pdf]
KNOWROB-MAP -- Knowledge-Linked Semantic Object Maps (Moritz Tenorth, Lars Kunze, Dominik Jain, Michael Beetz), In 10th IEEE-RAS International Conference on Humanoid Robots, 2010. [bib] [pdf]
Automatic Layered 3D Reconstruction of Simplified Object Models for Grasping (Lucian Cosmin Goron, Zoltan Csaba Marton, Gheorghe Lazea, Michael Beetz), In Joint 41st International Symposium on Robotics (ISR) and 6th German Conference on Robotics (ROBOTIK), 2010. [bib] [pdf]
General 3D Modelling of Novel Objects from a Single View (Zoltan-Csaba Marton, Dejan Pangercic, Nico Blodow, Jonathan Kleinehellefort, Michael Beetz), In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2010. [bib] [pdf]
Hierarchical Object Geometric Categorization and Appearance Classification for Mobile Manipulation (Zoltan-Csaba Marton, Dejan Pangercic, Radu Bogdan Rusu, Andreas Holzbach, Michael Beetz), In Proceedings of the IEEE-RAS International Conference on Humanoid Robots, 2010. [bib] [pdf]
Perception and Probabilistic Anchoring for Dynamic World State Logging (Nico Blodow, Dominik Jain, Zoltan-Csaba Marton, Michael Beetz), In 10th IEEE-RAS International Conference on Humanoid Robots, 2010. [bib] [pdf]
Real-time CAD Model Matching for Mobile Manipulation and Grasping (Ulrich Klank, Dejan Pangercic, Radu Bogdan Rusu, Michael Beetz), In 9th IEEE-RAS International Conference on Humanoid Robots, 2009. [bib] [pdf]
Model-based and Learned Semantic Object Labeling in 3D Point Cloud Maps of Kitchen Environments (Radu Bogdan Rusu, Zoltan Csaba Marton, Nico Blodow, Andreas Holzbach, Michael Beetz), In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2009. [bib] [pdf]
Fast Geometric Point Labeling using Conditional Random Fields (Radu Bogdan Rusu, Andreas Holzbach, Nico Blodow, Michael Beetz), In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2009. [bib] [pdf]
Real-time Perception-Guided Motion Planning for a Personal Robot (Radu Bogdan Rusu, Ioan Alexandru Sucan, Brian Gerkey, Sachin Chitta, Michael Beetz, Lydia E. Kavraki), In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2009. [bib]
Close-range Scene Segmentation and Reconstruction of 3D Point Cloud Maps for Mobile Manipulation in Human Environments (Radu Bogdan Rusu, Nico Blodow, Zoltan Csaba Marton, Michael Beetz), In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2009. [bib] [pdf]
Fast Point Feature Histograms (FPFH) for 3D Registration (Radu Bogdan Rusu, Nico Blodow, Michael Beetz), In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Kobe, Japan, May 12-17, 2009. [bib]
Laser-based Perception for Door and Handle Identification (Radu Bogdan Rusu, Wim Meeussen, Sachin Chitta, Michael Beetz), In Proceedings of the International Conference on Advanced Robotics (ICAR), 2009. (Best Paper Award) [bib]
Perception for Mobile Manipulation and Grasping using Active Stereo (Radu Bogdan Rusu, Andreas Holzbach, Rosen Diankov, Gary Bradski, Michael Beetz), In 9th IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2009. [bib]
On Fast Surface Reconstruction Methods for Large and Noisy Point Clouds (Zoltan Csaba Marton, Radu Bogdan Rusu, Michael Beetz), In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2009. [bib] [pdf]
Leaving Flatland: Toward Real-Time 3D Navigation (Benoit Morisset, Radu Bogdan Rusu, Aravind Sundaresan, Kris Hauser, Motilal Agrawal, Jean-Claude Latombe, Michael Beetz), In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Kobe, Japan, May 12-17, 2009. [bib]
Probabilistic Categorization of Kitchen Objects in Table Settings with a Composite Sensor (Zoltan Csaba Marton, Radu Bogdan Rusu, Dominik Jain, Ulrich Klank, Michael Beetz), In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2009. [bib] [pdf]
Partial View Modeling and Validation in 3D Laser Scans for Grasping (Nico Blodow, Radu Bogdan Rusu, Zoltan Csaba Marton, Michael Beetz), In 9th IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2009. [bib] [pdf]
Fault-tolerant 3D Mapping with Application to an Orchard Robot (Morten Rufus Blas, Radu Bogdan Rusu, Mogens Blanke, Michael Beetz), In Proceedings of the 7th IFAC International Symposium on Fault Detection, Supervision and Safety of Technical Processes (SAFEPROCESS'09), Barcelona, Spain, June 30 - July 3, 2009. [bib]
The Assistive Kitchen -- A Demonstration Scenario for Cognitive Technical Systems (Michael Beetz, Freek Stulp, Bernd Radig, Jan Bandouch, Nico Blodow, Mihai Dolha, Andreas Fedrizzi, Dominik Jain, Uli Klank, Ingo Kresse, Alexis Maldonado, Zoltan Marton, Lorenz Mösenlechner, Federico Ruiz, Radu Bogdan Rusu, Moritz Tenorth), In IEEE 17th International Symposium on Robot and Human Interactive Communication (RO-MAN), Muenchen, Germany, 2008. (Invited paper.) [bib] [pdf]
Action Recognition in Intelligent Environments using Point Cloud Features Extracted from Silhouette Sequences (Radu Bogdan Rusu, Jan Bandouch, Zoltan Csaba Marton, Nico Blodow, Michael Beetz), In IEEE 17th International Symposium on Robot and Human Interactive Communication (RO-MAN), Muenchen, Germany, 2008. [bib] [pdf]
Functional Object Mapping of Kitchen Environments (Radu Bogdan Rusu, Zoltan Csaba Marton, Nico Blodow, Mihai Emanuel Dolha, Michael Beetz), In Proceedings of the 21st IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Nice, France, September 22-26, 2008. [bib] [pdf]
Aligning Point Cloud Views using Persistent Feature Histograms (Radu Bogdan Rusu, Nico Blodow, Zoltan Csaba Marton, Michael Beetz), In Proceedings of the 21st IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Nice, France, September 22-26, 2008. [bib] [pdf]
Leaving Flatland: Realtime 3D Stereo Semantic Reconstruction (Radu Bogdan Rusu, Aravind Sundaresan, Benoit Morisset, Motilal Agrawal, Michael Beetz), In Proceedings of the International Conference on Intelligent Robotics and Applications (ICIRA) 2008, October 15-17, Wuhan, China, 2008. [bib]
Learning Informative Point Classes for the Acquisition of Object Model Maps (Radu Bogdan Rusu, Zoltan Csaba Marton, Nico Blodow, Michael Beetz), In Proceedings of the 10th International Conference on Control, Automation, Robotics and Vision (ICARCV), Hanoi, Vietnam, December 17-20, 2008. [bib] [pdf]
Persistent Point Feature Histograms for 3D Point Clouds (Radu Bogdan Rusu, Zoltan Csaba Marton, Nico Blodow, Michael Beetz), In Proceedings of the 10th International Conference on Intelligent Autonomous Systems (IAS-10), Baden-Baden, Germany, 2008. [bib] [pdf]
Towards 3D Object Maps for Autonomous Household Robots (Radu Bogdan Rusu, Nico Blodow, Zoltan-Csaba Marton, Alina Soos, Michael Beetz), In Proceedings of the 20th IEEE International Conference on Intelligent Robots and Systems (IROS), 2007. [bib] [pdf]

Workshop Papers

Furniture Classification using WWW CAD Models (Vladyslav Usenko, Florian Seidel, Zoltan-Csaba Marton, Dejan Pangercic Michael Beetz), In IROS’12 Workshop on Active Semantic Perception (ASP’12), 2012. [bib] [pdf]
Elaborative Evaluation of RGB-D based Point Cloud Registration for Personal Robots (Ross Kidson, Darko Stanimirovic, Dejan Pangercic, Michael Beetz), In ICRA 2012 Workshop on Semantic Perception and Mapping for Knowledge-enabled Service Robotics, 2012. [bib] [pdf]
Segmentation of Cluttered Scenes through Interactive Perception (Karol Hausman, Christian Bersch, Dejan Pangercic, Sarah Osentoski, Zoltan-Csaba Marton, Michael Beetz), In ICRA 2012 Workshop on Semantic Perception and Mapping for Knowledge-enabled Service Robotics, 2012. [bib] [pdf]
Segmentation of Textured and Textureless Objects through Interactive Perception (Christian Bersch, Dejan Pangercic, Sarah Osentoski, Karol Hausman, Zoltan-Csaba Marton, Ryohei Ueda, Kei Okada, Michael Beetz), In RSS Workshop on Robots in Clutter: Manipulation, Perception and Navigation in Human Environments, 2012. [bib] [pdf]
Efficient Surface and Feature Estimation in RGBD (Zoltan-Csaba Marton, Dejan Pangercic, Michael Beetz), In RGB-D Workshop on 3D Perception in Robotics at the European Robotics (euRobotics) Forum, 2011. [bib] [pdf]
Voxelized Shape and Color Histograms for RGB-D (Asako Kanezaki, Zoltan-Csaba Marton, Dejan Pangercic, Tatsuya Harada, Yasuo Kuniyoshi, Michael Beetz), In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Workshop on Active Semantic Perception and Object Search in the Real World, 2011. [bib] [pdf]
Semantic Object Search in Large-scale Indoor Environments (Manabu Saito, Haseru Chen, Kei Okada, Masayuki Inaba, Lars Kunze, Michael Beetz), In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Workshop on Active Semantic Perception and Object Search in the Real World, 2011. [bib] [pdf]
Inferring Generalized Pick-and-Place Tasks from Pointing Gestures (Nico Blodow, Zoltan-Csaba Marton, Dejan Pangercic, Thomas Rühr, Moritz Tenorth, Michael Beetz), In IEEE International Conference on Robotics and Automation (ICRA), Workshop on Semantic Perception, Mapping and Exploration, 2011. [bib] [pdf]
Robotic Roommates Making Pancakes - Look Into Perception-Manipulation Loop (Michael Beetz, Ulrich Klank, Alexis Maldonado, Dejan Pangercic, Thomas Rühr), In IEEE International Conference on Robotics and Automation (ICRA), Workshop on Mobile Manipulation: Integrating Perception and Manipulation, 2011. [bib] [pdf]
Advantages of Spatial-temporal Object Maps for Service Robotics (Zoltan-Csaba Marton, Nico Blodow, Michael Beetz), In IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO), 2011. [bib] [pdf]
Making Sense of 3D Data (Nico Blodow, Zoltan-Csaba Marton, Dejan Pangercic, Michael Beetz), In Robotics: Science and Systems Conference (RSS), Workshop on Strategies and Evaluation for Mobile Manipulation in Household Environments, 2010. [bib] [pdf]
Detecting and Segmenting Objects for Mobile Manipulation (Radu Bogdan Rusu, Andreas Holzbach, Gary Bradski, Michael Beetz), In Proceedings of IEEE Workshop on Search in 3D and Video (S3DV), held in conjunction with the 12th IEEE International Conference on Computer Vision (ICCV), 2009. [bib]
Reconstruction and Verification of 3D Object Models for Grasping (Zoltan Csaba Marton, Lucian Cosmin Goron, Radu Bogdan Rusu, Michael Beetz), In Proceedings of the 14th International Symposium on Robotics Research (ISRR09), 2009. [bib] [pdf]
CoP-Man -- Perception for Mobile Pick-and-Place in Human Living Environments (Michael Beetz, Nico Blodow, Ulrich Klank, Zoltan Csaba Marton, Dejan Pangercic, Radu Bogdan Rusu), In Proceedings of the 22nd IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Workshop on Semantic Perception for Mobile Manipulation, 2009. (Invited paper.) [bib] [pdf]
Interpretation of Urban Scenes based on Geometric Features (Radu Bogdan Rusu, Zoltan Csaba Marton, Nico Blodow, Michael Beetz), In Proceedings of the 21st IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Workshop on 3D Mapping, Nice, France, September 26, 2008. (Invited paper) [bib] [pdf]
Realtime Extended 3D Reconstruction from Stereo for Navigation (Radu Bogdan Rusu, Aravind Sundaresan, Benoit Morisset, Motilal Agrawal, Michael Beetz, Kurt Konolige), In Proceedings of the 21st IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Workshop on 3D Mapping, Nice, France, September 26, 2008. (Invited paper) [bib]
Autonomous Mapping of Kitchen Environments and Applications (Zoltan Csaba Marton, Nico Blodow, Mihai Dolha, Moritz Tenorth, Radu Bogdan Rusu, Michael Beetz), In Proceedings of the 1st International Workshop on Cognition for Technical Systems, Munich, Germany, 6-8 October, 2008. [bib] [pdf]

Other Publications

Creating and using RoboEarth object models (Daniel Di Marco, Andreas Koch, Oliver Zweigle, Kai Häussermann, Björn Schieß le, Paul Levi, Dorian Galvez Lopez, Luis Riazuelo, Javier Civera, J.M.M Montiel, Moritz Tenorth, Alexander Clifford Perzylo, Markus Waibel, Marinus Jacobus Gerardus van de Molengraft), IEEE International Conference on Robotics and Automation (ICRA), 2012. [bib]
A Robot that Shops for and Stores Groceries (Dejan Pangercic, Koppany Mathe, Zoltan-Csaba Marton, Lucian Cosmin Goron, Monica-Simona Opris, Martin Schuster, Moritz Tenorth, Dominik Jain, Thomas Ruehr, Michael Beetz), AAAI Video Competition (AIVC 2011), 2011. [bib]
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Last edited 01.08.2011 15:33 by tenorth