EnvMod

Environment Modeling

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.

Research Topics

3D Geometric Reasoning

Laser Segmentation

Probabilistic Model Fitting

Intelligent Perception

Multimodal 3D Localization

Semantic Mapping

Probabilistic Models

Probabilistic Reasoning

Statistical Relational Learning

Application Domain

Intelligent Kitchen

Team

Radu Bogdan Rusu

Marton, Zoltan-Csaba

Nico Blodow

Project Details

Acquisition
Estimation of Features
Registration
Geometric Reasoning
Functional Reasoning
Classification

Former Webpage

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

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)

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 , Michael Beetz , Learning Informative Point Classes for the Acquisition of Object Model Maps, 2008, Proceedings of the 10th International Conference on Control, Automation, Robotics and Vision (ICARCV), Hanoi, Vietnam, December 17-20,
(BibTeX) (PDF)

Radu Bogdan Rusu , Zoltan-Csaba Marton , Nico Blodow , Mihai Emanuel Dolha , Michael Beetz , Functional Object Mapping of Kitchen Environments, 2008, Proceedings of the 21st IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Nice, France, September 22-26,
(BibTeX) (PDF)

Radu Bogdan Rusu , Nico Blodow , Zoltan-Csaba Marton , Michael Beetz , Aligning Point Cloud Views using Persistent Feature Histograms, 2008, Proceedings of the 21st IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Nice, France, September 22-26,
(BibTeX) (PDF)

Radu Bogdan Rusu , Zoltan-Csaba Marton , Nico Blodow , Michael Beetz , Persistent Point Feature Histograms for 3D Point Clouds, 2008, Proceedings of the 10th International Conference on Intelligent Autonomous Systems (IAS-10), Baden-Baden, Germany,
(BibTeX)

Zoltan-Csaba Marton , Nico Blodow , Mihai Emanuel Dolha , Moritz Tenorth , Radu Bogdan Rusu , Michael Beetz , Autonomous Mapping of Kitchen Environments and Applications, 2008, Proceedings of the 1st International Workshop on Cognition for Technical Systems, Munich, Germany, 6-8 October,
(BibTeX)

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