Has somethong changed here? Autonomous difference detection for security patrol robots. - Henrik Andreasson; Martin Magnusson 002; Achim J. Lilienthal (IROS, 2007)

Scan registration for autonomous mining vehicles using 3D-NDT. - Martin Magnusson 002; Achim J. Lilienthal; Tom Duckett (J. Field Robotics, 2007)

Registration of colored 3D point clouds with a Kernel-based extension to the normal distributions transform. - Benjamin Huhle; Martin Magnusson 002; Wolfgang Straßer; Achim J. Lilienthal (ICRA, 2008)

Appearance-based loop detection from 3D laser data using the normal distributions transform. - Martin Magnusson 002; Henrik Andreasson; Andreas Nüchter; Achim J. Lilienthal (ICRA, 2009)

Evaluation of 3D registration reliability and speed - A comparison of ICP and NDT. - Martin Magnusson 002; Andreas Nüchter; Christopher Lörken; Achim J. Lilienthal; Joachim Hertzberg (ICRA, 2009)

Automatic appearance-based loop detection from three-dimensional laser data using the normal distributions transform. - Martin Magnusson 002; Henrik Andreasson; Andreas Nüchter; Achim J. Lilienthal (J. Field Robotics, 2009)

The three-dimensional normal-distributions transform : an efficient representation for registration, surface analysis, and loop detection. - Martin Magnusson 002 (2009)

Path planning in 3D environments using the Normal Distributions Transform. - Todor Stoyanov; Martin Magnusson 002; Henrik Andreasson; Achim J. Lilienthal (IROS, 2010)

On the accuracy of the 3D Normal Distributions Transform as a tool for spatial representation. - Todor Stoyanov; Martin Magnusson 002; Hakan Almqvist; Achim J. Lilienthal (ICRA, 2011)

Consistent pile-shape quantification for autonomous wheel loaders. - Martin Magnusson 002; Hakan Almqvist (IROS, 2011)

Point set registration through minimization of the L2 distance between 3D-NDT models. - Todor Stoyanov; Martin Magnusson 002; Achim J. Lilienthal (ICRA, 2012)

Fast and accurate scan registration through minimization of the distance between compact 3D NDT representations. - Todor Stoyanov; Martin Magnusson 002; Henrik Andreasson; Achim J. Lilienthal (Int. J. Robotics Res., 2012)

Improving point-cloud accuracy from a moving platform in field operations. - Hakan Almqvist; Martin Magnusson 002; Todor Stoyanov; Achim J. Lilienthal (ICRA, 2013)

Conditional transition maps: Learning motion patterns in dynamic environments. - Tomasz Kucner; Jari Saarinen; Martin Magnusson 002; Achim J. Lilienthal (IROS, 2013)

Comparative Evaluation of the Consistency of Three-dimensional Spatial Representations used in Autonomous Robot Navigation. - Todor Stoyanov; Martin Magnusson 002; Achim J. Lilienthal (J. Field Robotics, 2013)

Improving Point Cloud Accuracy Obtained from a Moving Platform for Consistent Pile Attack Pose Estimation. - Håkan Almqvist; Martin Magnusson 002; Achim J. Lilienthal (J. Intell. Robotic Syst., 2014)

Quantitative evaluation of coarse-to-fine loading strategies for material rehandling. - Martin Magnusson 002; Tomasz Kucner; Achim J. Lilienthal (CASE, 2015)

Where am I? An NDT-based prior for MCL. - Tomasz Piotr Kucner; Martin Magnusson 002; Achim J. Lilienthal (ECMR, 2015)

SPENCER: A Socially Aware Service Robot for Passenger Guidance and Help in Busy Airports. - Rudolph Triebel; Kai Oliver Arras; Rachid Alami 001; Lucas Beyer; Stefan Breuers; Raja Chatila 001; Mohamed Chetouani; Daniel Cremers; Vanessa Evers; Michelangelo Fiore; Hayley Hung; Omar A. Islas Ramírez; et al. (FSR, 2015)

Beyond points: Evaluating recent 3D scan-matching algorithms. - Martin Magnusson 002; Narunas Vaskevicius; Todor Stoyanov; Kaustubh Pathak; Andreas Birk 002 (ICRA, 2015)

Using sketch-maps for robot navigation: Interpretation and matching. - Malcolm Mielle; Martin Magnusson 002; Achim J. Lilienthal (SSRR, 2016)

Kinodynamic motion planning on Gaussian mixture fields. - Luigi Palmieri; Tomasz Piotr Kucner; Martin Magnusson 002; Achim J. Lilienthal; Kai Oliver Arras (ICRA, 2017)

Semi-supervised 3D place categorisation by descriptor clustering. - Martin Magnusson 002; Tomasz Piotr Kucner; Saeed Gholami Shahbandi; Henrik Andreasson; Achim J. Lilienthal (IROS, 2017)

Incorporating ego-motion uncertainty estimates in range data registration. - Henrik Andreasson; Daniel Adolfsson; Todor Stoyanov; Martin Magnusson 002; Achim J. Lilienthal (IROS, 2017)

Semantic-assisted 3D normal distributions transform for scan registration in environments with limited structure. - Anestis Zaganidis; Martin Magnusson 002; Tom Duckett; Grzegorz Cielniak (IROS, 2017)

SLAM auto-complete: Completing a robot map using an emergency map. - Malcolm Mielle; Martin Magnusson 002; Henrik Andreasson; Achim J. Lilienthal (SSRR, 2017)

SLAM auto-complete using an emergency map. - Malcolm Mielle; Martin Magnusson 002; Henrik Andreasson; Achim J. Lilienthal (CoRR, 2017)

Enabling Flow Awareness for Mobile Robots in Partially Observable Environments. - Tomasz Piotr Kucner; Martin Magnusson 002; Erik Schaffernicht; Victor Manuel Hernandez Bennetts; Achim J. Lilienthal (IEEE Robotics Autom. Lett., 2017)

2D Spatial Keystone Transform for Sub-Pixel Motion Extraction from Noisy Occupancy Grid Map. - Hongqi Fan; Dawei Lu; Tomasz Piotr Kucner; Martin Magnusson 002; Achim J. Lilienthal (FUSION, 2018)

A Method to Segment Maps from Different Modalities Using Free Space Layout MAORIS: Map of Ripples Segmentation. - Malcolm Mielle; Martin Magnusson 002; Achim J. Lilienthal (ICRA, 2018)

Down the CLiFF: Flow-Aware Tralatory Planning Under Motion Pattern Uncertainty. - Chittaranjan Srinivas Swaminathan; Tomasz Piotr Kucner; Martin Magnusson 002; Luigi Palmieri; Achim J. Lilienthal (IROS, 2018)

Learning to detect misaligned point clouds. - Håkan Almqvist; Martin Magnusson 002; Tomasz Kucner; Achim J. Lilienthal (J. Field Robotics, 2018)

Nonlinear Optimization of Multimodal Two-Dimensional Map Alignment With Application to Prior Knowledge Transfer. - Saeed Gholami Shahbandi; Martin Magnusson 002; Karl Iagnemma (IEEE Robotics Autom. Lett., 2018)

A Standard for Map Data Representation: IEEE 1873-2015 Facilitates Interoperability Between Robots. - Francesco Amigoni; Wonpil Yu; Torsten Andre; Dirk Holz; Martin Magnusson 002; Matteo Matteucci; Hyungpil Moon; Masashi Yokotsuka; Geoffrey Biggs; Raj Madhavan 001 (IEEE Robotics Autom. Mag., 2018)

A Dual PHD Filter for Effective Occupancy Filtering in a Highly Dynamic Environment. - Hongqi Fan; Tomasz Piotr Kucner; Martin Magnusson 002; Tiancheng Li; Achim J. Lilienthal (IEEE Trans. Intell. Transp. Syst., 2018)

A Submap per Perspective - Selecting Subsets for SuPer Mapping that Afford Superior Localization Quality. - Daniel Adolfsson; Stephanie Lowry; Martin Magnusson 002; Achim J. Lilienthal; Henrik Andreasson (ECMR, 2019)

A comparative analysis of radar and lidar sensing for localization and mapping. - Malcolm Mielle; Martin Magnusson 002; Achim J. Lilienthal (ECMR, 2019)

2D map alignment with region decomposition. - Saeed Gholami Shahbandi; Martin Magnusson 002 (Auton. Robots, 2019)

Towards an Autonomous Unwrapping System for Intralogistics. - Chiara Gabellieri; Alessandro Palleschi; Anna Mannucci; Michele Pierallini; Elisa Stefanini; Manuel G. Catalano; Danilo Caporale; Alessandro Settimi; Todor Stoyanov; Martin Magnusson 002; Manolo Garabini; Lucia Pallottino (IEEE Robotics Autom. Lett., 2019)

The Auto-Complete Graph: Merging and Mutual Correction of Sensor and Prior Maps for SLAM. - Malcolm Mielle; Martin Magnusson 002; Achim J. Lilienthal (Robotics, 2019)

URSIM: Unique Regions for Sketch Map Interpretation and Matching. - Malcolm Mielle; Martin Magnusson 002; Achim J. Lilienthal (Robotics, 2019)

Localising Faster: Efficient and precise lidar-based robot localisation in large-scale environments. - Li Sun 005; Daniel Adolfsson; Martin Magnusson 002; Henrik Andreasson; Ingmar Posner; Tom Duckett (ICRA, 2020)

Natural Criteria for Comparison of Pedestrian Flow Forecasting Models. - Tomás Vintr; Zhi Yan 001; Kerem Eyisoy; Filip Kubis; Jan Blaha; Jirí Ulrich; Chittaranjan Srinivas Swaminathan; Sergi Molina Mellado; Tomasz Kucner; Martin Magnusson 002; Grzegorz Cielniak; Jan Faigl; et al. (IROS, 2020)

Robust Frequency-Based Structure Extraction. - Tomasz Piotr Kucner; Stephanie Lowry; Martin Magnusson 002; Achim J. Lilienthal (CoRR, 2020)

Probabilistic Mapping of Spatial Motion Patterns for Mobile Robots - Tomasz Piotr Kucner; Achim J. Lilienthal; Martin Magnusson 002; Luigi Palmieri; Chittaranjan Srinivas Swaminathan (Springer, 2020)

CorAl - Are the point clouds Correctly Aligned? - Daniel Adolfsson; Martin Magnusson 002; Qianfang Liao; Achim J. Lilienthal; Henrik Andreasson (ECMR, 2021)

Robust Frequency-Based Structure Extraction. - Tomasz Piotr Kucner; Matteo Luperto; Stephanie Lowry; Martin Magnusson 002; Achim J. Lilienthal (ICRA, 2021)

CFEAR Radarodometry - Conservative Filtering for Efficient and Accurate Radar Odometry. - Daniel Adolfsson; Martin Magnusson 002; Anas W. Alhashimi; Achim J. Lilienthal; Henrik Andreasson (IROS, 2021)

BFAR-Bounded False Alarm Rate detector for improved radar odometry estimation. - Anas W. Alhashimi; Daniel Adolfsson; Martin Magnusson 002; Henrik Andreasson; Achim J. Lilienthal (CoRR, 2021)

Oriented surface points for efficient and accurate radar odometry. - Daniel Adolfsson; Martin Magnusson 002; Anas W. Alhashimi; Achim J. Lilienthal; Henrik Andreasson (CoRR, 2021)

Calibrating Range Measurements of Lidars Using Fixed Landmarks in Unknown Positions. - Anas W. Alhashimi; Martin Magnusson 002; Steffi Knorn; Damiano Varagnolo (Sensors, 2021)

The Magni Human Motion Dataset: Accurate, Complex, Multi-Modal, Natural, Semantically-Rich and Contextualized. - Tim Schreiter; Tiago Rodrigues de Almeida 001; Yufei Zhu; Eduardo Gutiérrez-Maestro; Lucas Morillo-Méndez; Andrey Rudenko; Tomasz Piotr Kucner; Óscar Martínez Mozos; Martin Magnusson 002; Luigi Palmieri; Kai O. Arras; Achim J. Lilienthal (CoRR, 2022)

Editorial: Responsible Robotics. - Martim Brandão; Masoumeh Mansouri; Martin Magnusson 002 (Frontiers Robotics AI, 2022)

Benchmarking the utility of maps of dynamics for human-aware motion planning. - Chittaranjan Srinivas Swaminathan; Tomasz Piotr Kucner; Martin Magnusson 002; Luigi Palmieri; Sergi Molina Mellado; Anna Mannucci; Federico Pecora; Achim J. Lilienthal (Frontiers Robotics AI, 2022)

Robust Structure Identification and Room Segmentation of Cluttered Indoor Environments From Occupancy Grid Maps. - Matteo Luperto; Tomasz Piotr Kucner; Andrea Tassi; Martin Magnusson 002; Francesco Amigoni (IEEE Robotics Autom. Lett., 2022)

CorAl: Introspection for robust radar and lidar perception in diverse environments using differential entropy. - Daniel Adolfsson; Manuel Castellano-Quero; Martin Magnusson 002; Achim J. Lilienthal; Henrik Andreasson (Robotics Auton. Syst., 2022)

Revisiting Distribution-Based Registration Methods. - Himanshu Gupta; Henrik Andreasson; Martin Magnusson 002; Simon Julier; Achim J. Lilienthal (ECMR, 2023)

THÖR-Magni: Comparative Analysis of Deep Learning Models for Role-conditioned Human Mtion Prediction. - Tiago Rodrigues de Almeida 001; Andrey Rudenko; Tim Schreiter; Yufei Zhu; Eduardo Gutiérrez-Maestro; Lucas Morillo-Méndez; Tomasz Piotr Kucner; Óscar Martínez Mozos; Martin Magnusson 002; Luigi Palmieri; Kai O. Arras; Achim J. Lilienthal (ICCV (Workshops), 2023)

Proactive Model Predictive Control with Multi-Modal Human Motion Prediction in Cluttered Dynamic Environments. - Lukas Heuer; Luigi Palmieri; Andrey Rudenko; Anna Mannucci; Martin Magnusson 002; Kai O. Arras (IROS, 2023)

CLiFF-LHMP: Using Spatial Dynamics Patterns for Long- Term Human Motion Prediction. - Yufei Zhu; Andrey Rudenko; Tomasz Piotr Kucner; Luigi Palmieri; Kai O. Arras; Achim J. Lilienthal; Martin Magnusson 002 (IROS, 2023)

Advantages of Multimodal versus Verbal-Only Robot-to-Human Communication with an Anthropomorphic Robotic Mock Driver. - Tim Schreiter; Lucas Morillo-Méndez; Ravi T. Chadalavada; Andrey Rudenko; Erik Billing; Martin Magnusson 002; Kai O. Arras; Achim J. Lilienthal (RO-MAN, 2023)

A Data-Efficient Approach for Long-Term Human Motion Prediction Using Maps of Dynamics. - Yufei Zhu; Andrey Rudenko; Tomasz Piotr Kucner; Achim J. Lilienthal; Martin Magnusson 002 (CoRR, 2023)

Lidar-Level Localization With Radar? The CFEAR Approach to Accurate, Fast, and Robust Large-Scale Radar Odometry in Diverse Environments. - Daniel Adolfsson; Martin Magnusson 002; Anas W. Alhashimi; Achim J. Lilienthal; Henrik Andreasson (IEEE Trans. Robotics, 2023)

TBV Radar SLAM - Trust but Verify Loop Candidates. - Daniel Adolfsson; Mattias Karlsson; Vladimír Kubelka; Martin Magnusson 002; Henrik Andreasson (IEEE Robotics Autom. Lett., 2023)

Doppler-only Single-scan 3D Vehicle Odometry. - Andres Galeote-Luque; José-Raúl Ruiz-Sarmiento; Javier González Jiménez 001; Vladimír Kubelka; Martin Magnusson 002 (Zenodo, 2023)

Survey of maps of dynamics for mobile robots. - Tomasz Piotr Kucner; Martin Magnusson 002; Sariah Mghames; Luigi Palmieri; Francesco Verdoja; Chittaranjan Srinivas Swaminathan; Tomás Krajník; Erik Schaffernicht; Nicola Bellotto; Marc Hanheide; Achim J. Lilienthal (Int. J. Robotics Res., 2023)

Doppler-only Single-scan 3D Vehicle Odometry. - Andres Galeote-Luque; Vladimír Kubelka; Martin Magnusson 002; José-Raúl Ruiz-Sarmiento; Javier González Jiménez 001 (ICRA, 2024)

Benchmarking Multi-Robot Coordination in Realistic, Unstructured Human-Shared Environments. - Lukas Heuer; Luigi Palmieri; Anna Mannucci; Sven Koenig; Martin Magnusson 002 (ICRA, 2024)

Do we need scan-matching in radar odometry? - Vladimír Kubelka; Emil Fritz; Martin Magnusson 002 (ICRA, 2024)

3QFP: Efficient neural implicit surface reconstruction using Tri-Quadtrees and Fourier feature Positional encoding. - Shuo Sun; Malcolm Mielle; Achim J. Lilienthal; Martin Magnusson 002 (ICRA, 2024)

Learning Extrinsic Dexterity with Parameterized Manipulation Primitives. - Shih-Min Yang; Martin Magnusson 002; Johannes A. Stork; Todor Stoyanov (ICRA, 2024)

LaCE-LHMP: Airflow Modelling-Inspired Long-Term Human Motion Prediction By Enhancing Laminar Characteristics in Human Flow. - Yufei Zhu; Han Fan; Andrey Rudenko; Martin Magnusson 002; Erik Schaffernicht; Achim J. Lilienthal (ICRA, 2024)

High-Fidelity SLAM Using Gaussian Splatting with Rendering-Guided Densification and Regularized Optimization. - Shuo Sun; Malcolm Mielle; Achim J. Lilienthal; Martin Magnusson 002 (IROS, 2024)

Human Gaze and Head Rotation during Navigation, Exploration and Object Manipulation in Shared Environments with Robots. - Tim Schreiter; Andrey Rudenko; Martin Magnusson 002; Achim J. Lilienthal (RO-MAN, 2024)

Human Detection from 4D Radar Data in Low-Visibility Field Conditions. - Mikael Skog; Oleksandr Kotlyar; Vladimír Kubelka; Martin Magnusson 002 (CoRR, 2024)

Fast Online Learning of CLiFF-maps in Changing Environments. - Yufei Zhu; Andrey Rudenko; Luigi Palmieri; Lukas Heuer; Achim J. Lilienthal; Martin Magnusson 002 (CoRR, 2024)

Trajectory Prediction for Heterogeneous Agents: A Performance Analysis on Small and Imbalanced Datasets. - Tiago Rodrigues de Almeida 001; Yufei Zhu; Andrey Rudenko; Tomasz Piotr Kucner; Johannes A. Stork; Martin Magnusson 002; Achim J. Lilienthal (IEEE Robotics Autom. Lett., 2024)

The ILIAD Safety Stack: Human-Aware Infrastructure-Free Navigation of Industrial Mobile Robots. - Sergi Molina Mellado; Anna Mannucci; Martin Magnusson 002; Daniel Adolfsson; Henrik Andreasson; Mazin Hamad; Saeed Abdolshah; Ravi Teja Chadalavada; Luigi Palmieri; Timm Linder; Chittaranjan Srinivas Swaminathan; Tomasz Piotr Kucner; et al. (IEEE Robotics Autom. Mag., 2024)

BFAR: improving radar odometry estimation using a bounded false alarm rate detector. - Anas W. Alhashimi; Daniel Adolfsson; Henrik Andreasson; Achim J. Lilienthal; Martin Magnusson 002 (Auton. Robots, 2024)

Evaluating Efficiency and Engagement in Scripted and LLM-Enhanced Human-Robot Interactions. - Tim Schreiter; Jens V. Rüppel; Rishi Hazra; Andrey Rudenko; Martin Magnusson 002; Achim J. Lilienthal (HRI, 2025)

THÖR-MAGNI: A large-scale indoor motion capture recording of human movement and robot interaction. - Tim Schreiter; Tiago Rodrigues de Almeida 001; Yufei Zhu; Eduardo Gutiérrez-Maestro; Lucas Morillo-Méndez; Andrey Rudenko; Luigi Palmieri; Tomasz Piotr Kucner; Martin Magnusson 002; Achim J. Lilienthal (Int. J. Robotics Res., 2025)

Multimodal Interaction and Intention Communication for Industrial Robots. - Tim Schreiter; Andrey Rudenko; Jens Rüppel; Martin Magnusson 002; Achim J. Lilienthal (CoRR, 2025)

KEA: Keeping Exploration Alive by Proactively Coordinating Exploration Strategies. - Shih-Min Yang; Martin Magnusson 002; Johannes A. Stork; Todor Stoyanov (CoRR, 2025)

RadaRays: Real-Time Simulation of Rotating FMCW Radar for Mobile Robotics via Hardware-Accelerated Ray Tracing. - Alexander Mock; Martin Magnusson 002; Joachim Hertzberg (IEEE Robotics Autom. Lett., 2025)

Large-scale visual SLAM for in-the-wild videos. - Shuo Sun; Torsten Sattler; Malcolm Mielle; Achim J. Lilienthal; Martin Magnusson 002 (CoRR, 2025)

Gaze-supported Large Language Model Framework for Bi-directional Human-Robot Interaction. - Jens V. Rüppel; Andrey Rudenko; Tim Schreiter; Martin Magnusson 002; Achim J. Lilienthal (CoRR, 2025)