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Note: This page is out of date, I am not affiliated with TU Munich anymore. For more up-to-date information, please visit my LinkedIn profile, with a little luck it's more up to date.
I am currently pursuing a PhD degree at the IAS group at the TU Munich.
My research interest lie in the intersection of real time 3D perception and higher level semantic reasoning, especially in the areas of semantic mapping of indoor environments, autonomous exploration and mapping, object recognition and localization, object identity resolution, as well as spatial and temporal reasoning.
In the spring of 2011, I had the pleasure of doing a three-month internship at Willow Garage in Palo Alto, CA, USA, to continue my work on the Point Cloud Library (PCL). I was working most closely with Radu Rusu, Suat Gedikli and Michael Dixon on porting and developing existing and new PCL functionality on the GPU using CUDA. See my youtube channel for some videos: http://www.youtube.com/user/nicoblodow.
From February to April 2009, I was a visiting scholar in the Robotics Institute at Carnegie Mellon University and the Personal Robotics group of Intel Labs Pittsburgh, where I was working with Siddartha Srinivasa and his group on 3D perception for personal robots and on the development of the spinning laser scanner on the lab's robot HERB.
I have started my PhD studies in June 2008, however I alreday had close ties to the group during my undergraduate studies in Computer Science and Mechanical Engineering / Mechatronics, and wrote my diploma thesis on "Efficient Detection of Primitive Geometric Shapes in 3D Point Clouds" during this time.
External Links
Realtime Model-based segmentation and filtering of Robot or World model from Kinect data: http://github.com/blodow/realtime_urdf_filter
WebGL Experiment with animated Regula Falsi fractals: http://blodow.bitbucket.org/rf/
Publications
Journal Articles and Book Chapters
| RoboSherlock: Unstructured Information Processing Framework for Robotic Perception , In Handling Uncertainty and Networked Structure in Robot Control (Lucian Busoniu, Levente Tamás, eds.), Springer International Publishing, 2015. [bib] [doi] |
| Part-Based Geometric Categorization and Object Reconstruction in Cluttered Table-Top Scenes , In Journal of Intelligent & Robotic Systems, Springer Netherlands, 2014. [bib] |
| Cognition-Enabled Autonomous Robot Control for the Realization of Home Chore Task Intelligence , In Proceedings of the IEEE, Special Issue on Quality of Life Technology, volume 100, 2012. [bib] |
| Combined 2D-3D Categorization and Classification for Multimodal Perception Systems , In The International Journal of Robotics Research, Sage Publications, volume 30, 2011. [bib] [pdf] |
| Towards 3D Point Cloud Based Object Maps for Household Environments , In Robotics and Autonomous Systems Journal (Special Issue on Semantic Knowledge in Robotics), volume 56, 2008. [bib] [pdf] |
Conference Papers
| RoboSherlock: Unstructured Information Processing for Robot Perception , In IEEE International Conference on Robotics and Automation (ICRA), 2015.(Best Service Robotics Paper Award) [bib] |
| Real-time Compression of Point Cloud Streams , In IEEE International Conference on Robotics and Automation (ICRA), 2012. [bib] |
| Autonomous Semantic Mapping for Robots Performing Everyday Manipulation Tasks in Kitchen Environments , In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2011. [bib] [pdf] |
| General 3D Modelling of Novel Objects from a Single View , In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2010. [bib] [pdf] |
| Perception and Probabilistic Anchoring for Dynamic World State Logging , In 10th IEEE-RAS International Conference on Humanoid Robots, 2010. [bib] [pdf] |
| Model-based and Learned Semantic Object Labeling in 3D Point Cloud Maps of Kitchen Environments , 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 , In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2009. [bib] [pdf] |
| Close-range Scene Segmentation and Reconstruction of 3D Point Cloud Maps for Mobile Manipulation in Human Environments , 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 , In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Kobe, Japan, May 12-17, 2009. [bib] |
| Partial View Modeling and Validation in 3D Laser Scans for Grasping , In 9th IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2009. [bib] [pdf] |
| The Assistive Kitchen -- A Demonstration Scenario for Cognitive Technical Systems , 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 , In IEEE 17th International Symposium on Robot and Human Interactive Communication (RO-MAN), Muenchen, Germany, 2008. [bib] [pdf] |
| Functional Object Mapping of Kitchen Environments , 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 , In Proceedings of the 21st IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Nice, France, September 22-26, 2008. [bib] [pdf] |
| Learning Informative Point Classes for the Acquisition of Object Model Maps , 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 , 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 , In Proceedings of the 20th IEEE International Conference on Intelligent Robots and Systems (IROS), 2007. [bib] [pdf] |
Workshop Papers
| Inferring Generalized Pick-and-Place Tasks from Pointing Gestures , In IEEE International Conference on Robotics and Automation (ICRA), Workshop on Semantic Perception, Mapping and Exploration, 2011. [bib] [pdf] |
| Advantages of Spatial-temporal Object Maps for Service Robotics , In IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO), 2011. [bib] [pdf] |
| CAD-model recognition and 6DOF pose estimation using 3D cues , In IEEE International Conference on Computer Vision Workshops, ICCV 2011 Workshops, Barcelona, Spain, November 6-13, 2011, 2011. [bib] |
| Making Sense of 3D Data , In Robotics: Science and Systems Conference (RSS), Workshop on Strategies and Evaluation for Mobile Manipulation in Household Environments, 2010. [bib] [pdf] |
| CoP-Man -- Perception for Mobile Pick-and-Place in Human Living Environments , 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 , 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] |
| Autonomous Mapping of Kitchen Environments and Applications , In Proceedings of the 1st International Workshop on Cognition for Technical Systems, Munich, Germany, 6-8 October, 2008. [bib] [pdf] |
Other Publications
| Managing Belief States for Service Robots - Dynamic Scene Perception and Spatio-temporal Memory , PhD thesis, Technische Universität München, 2014. [bib] |
