PhD Thesis Poppinga: RRT - Jacobs University

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• Jann Poppinga, Max Pfingsthorn, Soeren Schwertfeger, Kaustubh Pathak, and Andreas Birk. Optimized Octtree Datastructure and Access Methods for 3D Mapping. In IEEE Safety, Security, and Rescue Robotics (SSRR). IEEE Press, 2007, henceforth referred to as [Poppinga et al., 2007]. The patch map datastructure is built based on the work by Kaustubh Pathak, published in: • Andreas Birk, Kaustubh Pathak, Narunas Vaskevicius, Max Pfingsthorn, Jann Poppinga, and Soeren Schwertfeger. Surface Representations for 3D Mapping: A Case for a Paradigm Shift. KI - German Journal on Artificial Intelligence, 2010. • Kaustubh Pathak, Andreas Birk, Narunas Vaskevicius, Max Pfingsthorn, Soeren Schwertfeger, and Jann Poppinga. Online 3D SLAM by Registration of Large Planar Surface Segments and Closed Form Pose-Graph Relaxation. Journal of Field Robotics, Special Issue on 3D Mapping, 27(1):52–84, 2010. • Kaustubh Pathak, Narunas Vaskevicius, Jann Poppinga, Max Pfingsthorn, Soeren Schwertfeger, and Andreas Birk. Fast 3D Mapping by Matching Planes Extracted from Range Sensor Point- Clouds. In International Conference on Intelligent Robots and Systems (IROS). IEEE Press, 2009. • Andreas Birk, Narunas Vaskevicius, Kaustubh Pathak, Soeren Schwertfeger, Jann Poppinga, and Heiko Buelow. 3-D Perception and Modeling: Motion-Level Teleoperation and Intelligent Autonomous Functions. IEEE Robotics and Automation Magazine (RAM), December, 2009. • K. Pathak, A. Birk, N. Vaškevičius, and J. Poppinga. Fast registration based on noisy planes with unknown correspondences for 3-d mapping. Robotics, IEEE Transactions on, 26(3):424 –441, June 2010, henceforth referred to as [Pathak et al., 2010b]. Data collected by me and library functions implemented by me were used in object classification: • Soeren Schwertfeger, Jann Poppinga, and Andreas Birk. Towards Object Classification using 3D Sensor Data. In ECSIS Symposium on Learning and Adaptive Behaviors for Robotic Systems (LAB-RS). IEEE, 2008. In an unrelated educational project, I worked with humanoid robots: • Andreas Birk, Jann Poppinga, and Max Pfingsthorn. Using different Humanoid Robots for Science Edutainment of Secondary School Pupils. In Luca Iocchi, Hitoshi Matsubara, Alfredo Weitzenfeld, and Changjiu Zhou, editors, RoboCup 2008: Robot WorldCup XII, Lecture Notes in Artificial Intelligence (LNAI). Springer, 2009. Based on my work with the SwissRanger sensor, K. Pathak implemented a forward sensor model, sensor fusion, and achieved sub-pixel accuracy: 6 • Kaustubh Pathak, Andreas Birk, Soeren Schwertfeger, and Jann Poppinga. 3D Forward Sensor Modeling and Application to Occupancy Grid Based Sensor Fusion. In International Conference on Intelligent Robots and Systems (IROS), pages 2059 – 2064, San Diego, USA, 2007. IEEE Press. • Kaustubh Pathak, Andreas Birk, Jann Poppinga, and Sören Schwertfeger. 3d forward sensor modeling and application to occupancy grid based sensor fusion. In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, San Diego, Nov 2007.
• Kaustubh Pathak, Andreas Birk, and Jann Poppinga. Subpixel Depth Accuracy with a Time of Flight Sensor using Multimodal Gaussian Analysis. In International Conference on Intelligent Robots and Systems (IROS), Nice, France, 2008. IEEE Press. Parts of the data was collected in the Jacobs Robotics Arena, documented in: • Andreas Birk, Kaustubh Pathak, Jann Poppinga, Sören Schwertfeger, Max Pfingsthorn, and Heiko Bülow. The Jacobs Test Arena for Safety, Security, and Rescue Robotics (SSRR). In WS on Performance Evaluation and Benchmarking for Intelligent Robots and Systems, Intern. Conf. on Intelligent Robots and Systems (IROS). IEEE Press, 2007. My general contributions to the Jacobs Robotics robot system are published as: • Andreas Birk, Kaustubh Pathak, Jann Poppinga, Soeren Schwertfeger, and Winai Chonnaparamutt. Intelligent Behaviors in Outdoor Environments. In 13th International Conference on Robotics and Applications, Special Session on Outdoor Robotics - Taking Robots off road. IASTED, 2007. 7
Page 1: Towards Autonomous Navigation for R
Page 4 and 5: ased on RRT. We compare our approac
Page 9 and 10: Contents 1 Introduction 19 1.1 Obst
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Page 19 and 20: Chapter 1 Introduction Robots have
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3.4 Summary Figure 3.13: An overvie
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3.4 Summary Table 3.2: SPATIAL PROP
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Chapter 4 Near Field 3D Navigation
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Chapter 5 Patch Map Data-Structure
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Patch Map Data-Structure collision
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Patch Map Data-Structure Algorithm
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Patch Map Data-Structure Figure 5.1
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3D Roadmaps for Unmanned Aerial Veh
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Conclusion variant of the map data-
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Addenda & Errata (a) Outline on the
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[Birk et al., 2010] Birk, A., Patha
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[Gottschalk, 1997] Gottschalk, S. (
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[Konolige, 1999] Konolige, K. (1999
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[Mustafa, 2004] Mustafa, N. H. (200
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[Rusu et al., 2008a] Rusu, R. B., M
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[Unnikrishnan and Hebert, 2003] Unn
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PhD Thesis Poppinga: RRT - Jacobs University

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