3D data classification based on mid-level geometric features. - Kristiyan Georgiev; Rolf Lakaemper (ICAR, 2011)

Fast plane extraction in 3D range data based on line segments. - Kristiyan Georgiev; Ross T. Creed; Rolf Lakaemper (IROS, 2011)

A hybrid approach to 2D robotic map evaluation. - Ross T. Creed; Kristiyan Georgiev; Rolf Lakaemper (PerMIS, 2012)

Real-time 3D scene description using Spheres, Cones and Cylinders. - Kristiyan Georgiev; Mo'taz Al-Hami; Rolf Lakaemper (CoRR, 2016)