3D forward sensor modeling and application to occupancy grid based sensor fusion. - Kaustubh Pathak; Andreas Birk 002; Jann Poppinga; Sören Schwertfeger (IROS, 2007)

Fast 3D mapping by matching planes extracted from range sensor point-clouds. - Kaustubh Pathak; Narunas Vaskevicius; Jann Poppinga; Max Pfingsthorn; Sören Schwertfeger; Andreas Birk 002 (IROS, 2009)

3-D perception and modeling. - Andreas Birk 002; Narunas Vaskevicius; Kaustubh Pathak; Sören Schwertfeger; Jann Poppinga; Heiko Bülow (IEEE Robotics Autom. Mag., 2009)

A networking framework for teleoperation in safety, security, and rescue robotics. - Andreas Birk 002; Sören Schwertfeger; Kaustubh Pathak (IEEE Wirel. Commun., 2009)

Maximum likelihood mapping with spectral image registration. - Max Pfingsthorn; Andreas Birk 002; Sören Schwertfeger; Heiko Bülow; Kaustubh Pathak (ICRA, 2010)

Evaluation of maps using fixed shapes: the fiducial map metric. - Sören Schwertfeger; Adam Jacoff; Chris Scrapper; Johannes Pellenz; Alexander Kleiner (PerMIS, 2010)

Efficient Representation in Three-Dimensional Environment Modeling for Planetary Robotic Exploration. - Narunas Vaskevicius; Andreas Birk 002; Kaustubh Pathak; Sören Schwertfeger (Adv. Robotics, 2010)

Online three-dimensional SLAM by registration of large planar surface segments and closed-form pose-graph relaxation. - Kaustubh Pathak; Andreas Birk 002; Narunas Vaskevicius; Max Pfingsthorn; Sören Schwertfeger; Jann Poppinga (J. Field Robotics, 2010)

Surface Representations for 3D Mapping - A Case for a Paradigm Shift. - Andreas Birk 002; Kaustubh Pathak; Narunas Vaskevicius; Max Pfingsthorn; Jann Poppinga; Sören Schwertfeger (Künstliche Intell., 2010)

The RoboCupRescue robot league: Guiding robots towards fieldable capabilities. - Raymond Sheh; Tetsuya Kimura; Ehsan Mihankhah; Johannes Pellenz; Sören Schwertfeger; Jackrit Suthakorn (ARSO, 2011)

Safety, Security, and Rescue Missions with an Unmanned Aerial Vehicle (UAV) - Aerial Mosaicking and Autonomous Flight at the 2009 European Land Robots Trials (ELROB) and the 2010 Response Robot Evaluation Exercises (RREE). - Andreas Birk 002; Burkhard Wiggerich; Heiko Bülow; Max Pfingsthorn; Sören Schwertfeger (J. Intell. Robotic Syst., 2011)

Advancing the State of Urban Search and Rescue Robotics Through the RoboCupRescue Robot League Competition. - Raymond Sheh; Adam Jacoff; Ann-Marie Virts; Tetsuya Kimura; Johannes Pellenz; Sören Schwertfeger; Jackrit Suthakorn (FSR, 2012)

Using competitions to advance the development of standard test methods for response robots. - Adam Jacoff; Raymond Sheh; Ann-Marie Virts; Tetsuya Kimura; Johannes Pellenz; Sören Schwertfeger; Jackrit Suthakorn (PerMIS, 2012)

A short overview of recent advances in map evaluation. - Sören Schwertfeger; Andreas Birk 002 (SSRR, 2012)

Evaluation of map quality by matching and scoring high-level, topological map structures. - Sören Schwertfeger; Andreas Birk 002 (ICRA, 2013)

Robotic Mapping in the Real World: Performance Evaluation and System Integration. - Sören Schwertfeger (2013)

Using fiducials in 3D map evaluation. - Sören Schwertfeger; Andreas Birk 002 (SSRR, 2015)

Map evaluation using matched topology graphs. - Sören Schwertfeger; Andreas Birk 002 (Auton. Robots, 2016)

16 Years of RoboCup Rescue. - Raymond Sheh; Sören Schwertfeger; Arnoud Visser (Künstliche Intell., 2016)

No More Heavy Lifting: Robotic Solutions to the Container Unloading Problem. - Todor Stoyanov; Narunas Vaskevicius; Christian A. Mueller; Tobias Fromm; Robert Krug 002; Vinicio Tincani; Rasoul Mojtahedzadeh; Stefan Kunaschk; Rafael Mortensen Ernits; Daniel Ricao Canelhas; Manuel Bonilla; Sören Schwertfeger; et al. (IEEE Robotics Autom. Mag., 2016)

Simultaneous hand-eye calibration and reconstruction. - Xiangyang Zhi; Sören Schwertfeger (IROS, 2017)

Fast Gaussian Process Occupancy Maps. - Yijun Yuan; Haofei Kuang; Sören Schwertfeger (ICARCV, 2018)

Topological Area Graph Generation and its Application to Path Planning. - Jiawei Hou; Yijun Yuan; Sören Schwertfeger (CoRR, 2018)

Towards Accurate Deep-Sea Localization in Structured Environments based on Perception Quality Cues. - Arturo Gomez Chavez; Qingwen Xu; Christian A. Mueller; Sören Schwertfeger; Andreas Birk 002 (AAMAS, 2019)

Area Graph: Generation of Topological Maps using the Voronoi Diagram. - Jiawei Hou; Yijun Yuan; Sören Schwertfeger (ICAR, 2019)

Improved Fourier Mellin Invariant for Robust Rotation Estimation with Omni-Cameras. - Qingwen Xu; Arturo Gomez Chavez; Heiko Bülow; Andreas Birk 002; Sören Schwertfeger (ICIP, 2019)

Adaptive Navigation Scheme for Optimal Deep-Sea Localization Using Multimodal Perception Cues. - Arturo Gomez Chavez; Qingwen Xu; Christian A. Mueller; Sören Schwertfeger; Andreas Birk 002 (IROS, 2019)

Pose Estimation for Omni-directional Cameras using Sinusoid Fitting. - Haofei Kuang; Qingwen Xu; Xiaoling Long; Sören Schwertfeger (IROS, 2019)

Heterogeneous Multi-sensor Calibration based on Graph Optimization. - Hongyu Chen; Sören Schwertfeger (RCAR, 2019)

Incrementally Building Topology Graphs via Distance Maps. - Yijun Yuan; Sören Schwertfeger (RCAR, 2019)

Furniture Free Mapping using 3D Lidars. - Zhenpeng He; Jiawei Hou; Sören Schwertfeger (ROBIO, 2019)

Fast 2D Map Matching Based on Area Graphs. - Jiawei Hou; Haofei Kuang; Sören Schwertfeger (ROBIO, 2019)

Path Planning Tolerant to Degraded Locomotion Conditions. - Xiaoling Long; Sören Schwertfeger (SSRR, 2019)

Configuration-Space Flipper Planning for Rescue Robots. - Yijun Yuan; Letong Wang; Sören Schwertfeger (SSRR, 2019)

Learning Autonomous Exploration and Mapping with Semantic Vision. - Xiangyang Zhi; Xuming He 001; Sören Schwertfeger (CoRR, 2019)

Depth Estimation on Underwater Omni-directional Images Using a Deep Neural Network. - Haofei Kuang; Qingwen Xu; Sören Schwertfeger (CoRR, 2019)

Towards Generation and Evaluation of Comprehensive Mapping Robot Datasets. - Hongyu Chen; Xiting Zhao; Jianwen Luo 004; Zhijie Yang; Zehao Zhao; Haochuan Wan; Xiaoya Ye; Guangyuan Weng; Zhenpeng He; Tian Dong; Sören Schwertfeger (CoRR, 2019)

Improving CNN-based Planar Object Detection with Geometric Prior Knowledge. - Jianxiong Cai; Hongyu Chen; Laurent Kneip; Sören Schwertfeger (CoRR, 2019)

Fine-grained Qualitative Spatial Reasoning about Point Positions. - Sören Schwertfeger (CoRR, 2019)

Evaluation of Smartphone IMUs for Small Mobile Search and Rescue Robots. - Xiangyang Zhi; Qingwen Xu; Sören Schwertfeger (CoRR, 2019)

Room Detection for Topological Maps. - Sören Schwertfeger; Tianyan Yu (CoRR, 2019)

Comparison and Evaluation of 2D and 3D Range Sensors. - Qingwen Xu; Sören Schwertfeger (CoRR, 2019)

Editorial: Special Issue on Safety, Security, and Rescue Robotics (SSRR). - Sören Schwertfeger; Kazunori Ohno (J. Field Robotics, 2019)

RGBD-Inertial Trajectory Estimation and Mapping for Ground Robots. - Zeyong Shan; Ruijian Li; Sören Schwertfeger (Sensors, 2019)

Improving CNN-based Planar Object Detection with Geometric Prior Knowledge. - Jianxiong Cai; Jiawei Hou; Yiren Lu 002; Hongyu Chen; Laurent Kneip; Sören Schwertfeger (SSRR, 2020)

Configuration-Space Flipper Planning on 3D Terrain. - Yijun Yuan; Qingwen Xu; Sören Schwertfeger (SSRR, 2020)

Mapping with Reflection - Detection and Utilization of Reflection in 3D Lidar Scans. - Xiting Zhao; Zhijie Yang; Sören Schwertfeger (SSRR, 2020)

Non-iterative One-step Solution for Point Set Registration Problem on Pose Estimation without Correspondence. - Yijun Yuan; Dorit Borrmann; Andreas Nüchter; Sören Schwertfeger (CoRR, 2020)

Self-supervised Point Set Local Descriptors for Point Cloud Registration. - Yijun Yuan; Jiawei Hou; Andreas Nüchter; Sören Schwertfeger (CoRR, 2020)

Improved Visual-Inertial Localization for Low-cost Rescue Robots. - Xiaoling Long; Qingwen Xu; Yijun Yuan; Zhenpeng He; Sören Schwertfeger (CoRR, 2020)

Advanced mapping robot and high-resolution dataset. - Hongyu Chen; Zhijie Yang; Xiting Zhao; Guangyuan Weng; Haochuan Wan; Jianwen Luo 004; Xiaoya Ye; Zehao Zhao; Zhenpeng He; Yongxia Shen; Sören Schwertfeger (Robotics Auton. Syst., 2020)

Video Contrastive Learning with Global Context. - Haofei Kuang; Yi Zhu 001; Zhi Zhang 005; Xinyu Li 003; Joseph Tighe; Sören Schwertfeger; Cyrill Stachniss; Mu Li 003 (ICCVW, 2021)

Hierarchical topometric representation of 3D robotic maps. - Zhenpeng He; Hao Sun; Jiawei Hou; Yajun Ha; Sören Schwertfeger (Auton. Robots, 2021)

Rotation Estimation for Omni-directional Cameras Using Sinusoid Fitting. - Qingwen Xu; Xiaoling Long; Haofei Kuang; Sören Schwertfeger (J. Intell. Robotic Syst., 2021)

Underwater Depth Estimation for Spherical Images. - Jiadi Cui; Lei Jin; Haofei Kuang; Qingwen Xu; Sören Schwertfeger (J. Robotics, 2021)

Rethinking the Fourier-Mellin Transform: Multiple Depths in the Camera's View. - Qingwen Xu; Haofei Kuang; Laurent Kneip; Sören Schwertfeger (Remote. Sens., 2021)

Self-Supervised Point Set Local Descriptors for Point Cloud Registration. - Yijun Yuan; Dorit Borrmann; Jiawei Hou; Yuexin Ma; Andreas Nüchter; Sören Schwertfeger (Sensors, 2021)

Spotlights: Probing Shapes from Spherical Viewpoints. - Jiaxin Wei 001; Lige Liu; Ran Cheng; Wenqing Jiang; Minghao Xu; Xinyu Jiang; Tao Sun; Sören Schwertfeger; Laurent Kneip (ACCV (1), 2022)

Accurate Calibration of Multi-Perspective Cameras from a Generalization of the Hand-Eye Constraint. - Yifu Wang; Wenqing Jiang; Kun Huang; Sören Schwertfeger; Laurent Kneip (ICRA, 2022)

Multical: Spatiotemporal Calibration for Multiple IMUs, Cameras and LiDARs. - Xiangyang Zhi; Jiawei Hou; Yiren Lu 002; Laurent Kneip; Sören Schwertfeger (IROS, 2022)

CP+: Camera Poses Augmentation with Large-scale LiDAR Maps. - Jiadi Cui; Sören Schwertfeger (RCAR, 2022)

Rearranging the Environment to Maximize Energy with a Robotic Circuit Drawing. - Xianglong Tan; Zhikang Liu; Chen Yu; Sören Schwertfeger; Andre Rosendo (ROBIO, 2022)

Cluster on Wheels. - Yuanyuan Yang; Delin Feng; Sören Schwertfeger (CoRR, 2022)

Matching maps based on the Area Graph. - Jiawei Hou; Yijun Yuan; Zhenpeng He; Sören Schwertfeger (Intell. Serv. Robotics, 2022)

Robot Parkour Learning. - Ziwen Zhuang; Zipeng Fu; Jianren Wang; Christopher G. Atkeson; Sören Schwertfeger; Chelsea Finn; Hang Zhao (CoRL, 2023)

FloorplanNet: Learning Topometric Floorplan Matching for Robot Localization. - Delin Feng; Zhenpeng He; Jiawei Hou; Sören Schwertfeger; Liangjun Zhang (ICRA, 2023)

The SLAM Hive Benchmarking Suite. - Yuan-Yuan Yang; Bowen Xu; Yinjie Li; Sören Schwertfeger (ICRA, 2023)

Optimizing the Extended Fourier Mellin Transformation Algorithm. - Wenqing Jiang; Chengqian Li; Jinyue Cao; Sören Schwertfeger (IROS, 2023)

osmAG: Hierarchical Semantic Topometric Area Graph Maps in the OSM Format for Mobile Robotics. - Delin Feng; Chengqian Li; Yongqi Zhang; Chen Yu; Sören Schwertfeger (ROBIO, 2023)

CP+: Camera Poses Augmentation with Large-scale LiDAR Maps. - Jiadi Cui; Sören Schwertfeger (CoRR, 2023)

3DRef: 3D Dataset and Benchmark for Reflection Detection in RGB and Lidar Data. - Xiting Zhao; Sören Schwertfeger (3DV, 2024)

RealDex: Towards Human-like Grasping for Robotic Dexterous Hand. - Yumeng Liu; Yaxun Yang; Youzhuo Wang; Xiaofei Wu; Jiamin Wang; Yichen Yao; Sören Schwertfeger; Sibei Yang; Wenping Wang; Jingyi Yu; Xuming He 001; Yuexin Ma (IJCAI, 2024)

High-Quality, ROS Compatible Video Encoding and Decoding for High-Definition Datasets. - Jian Li; Bowen Xu; Sören Schwertfeger (ROBIO, 2024)

Collecting Large-Scale Robotic Datasets on a High-Speed Mobile Platform. - Yuxin Lin; Jiaxuan Ma; Sizhe Gu; Jipeng Kong; Bowen Xu; Xiting Zhao; Dengji Zhao; Wenhan Cao; Sören Schwertfeger (ROBIO, 2024)

Empowering Robot Path Planning with Large Language Models: osmAG Map Topology & Hierarchy Comprehension with LLMs. - Fujing Xie; Sören Schwertfeger (ROBIO, 2024)

Empowering Robotics with Large Language Models: osmAG Map Comprehension with LLMs. - Fujing Xie; Sören Schwertfeger (CoRR, 2024)

ShanghaiTech Mapping Robot is All You Need: Robot System for Collecting Universal Ground Vehicle Datasets. - Bowen Xu; Xiting Zhao; Delin Feng; Yuanyuan Yang; Sören Schwertfeger (CoRR, 2024)

Benchmarking SLAM Algorithms in the Cloud: The SLAM Hive System. - Xinzhe Liu; Yuanyuan Yang; Bowen Xu; Sören Schwertfeger (CoRR, 2024)

Collecting Larg-Scale Robotic Datasets on a High-Speed Mobile Platform. - Yuxin Lin; Jiaxuan Ma; Sizhe Gu; Jipeng Kong; Bowen Xu; Xiting Zhao; Dengji Zhao; Wenhan Cao; Sören Schwertfeger (CoRR, 2024)

Intelligent LiDAR Navigation: Leveraging External Information and Semantic Maps with LLM as Copilot. - Fujing Xie; Jiajie Zhang; Sören Schwertfeger (CoRR, 2024)

Playful DoggyBot: Learning Agile and Precise Quadrupedal Locomotion. - Xin Duan; Ziwen Zhuang; Hang Zhao; Sören Schwertfeger (CoRR, 2024)

Robust Lifelong Indoor LiDAR Localization Using the Area Graph. - Fujing Xie; Sören Schwertfeger (IEEE Robotics Autom. Lett., 2024)

Detection and Utilization of Reflections in LiDAR Scans through Plane Optimization and Plane SLAM. - Yinjie Li; Xiting Zhao; Sören Schwertfeger (Sensors, 2024)

Large-Scale Indoor Visual-Geometric Multimodal Dataset and Benchmark for Novel View Synthesis. - Junming Cao; Xiting Zhao; Sören Schwertfeger (Sensors, 2024)

Pushing the Limits of LiDAR: Accurate Performance Analysis of Indoor 3D LiDARs. - Xiting Zhao; Sören Schwertfeger (3DV, 2025)

GlassGaussian: Extending 3D Gaussian Splatting for Realistic Imperfections and Glass Materials. - Junming Cao; Jiadi Cui; Sören Schwertfeger (IEEE Access, 2025)

Adversarial Locomotion and Motion Imitation for Humanoid Policy Learning. - Jiyuan Shi; Xinzhe Liu; Dewei Wang; Ouyang Lu; Sören Schwertfeger; Fuchun Sun; Chenjia Bai; Xuelong Li 001 (CoRR, 2025)

Generation of Indoor Open Street Maps for Robot Navigation from CAD Files. - Jiajie Zhang; Shenrui Wu; Xu Ma; Sören Schwertfeger (CoRR, 2025)

osmAG-LLM: Zero-Shot Open-Vocabulary Object Navigation via Semantic Maps and Large Language Models Reasoning. - Fujing Xie; Sören Schwertfeger; Hermann Blum (CoRR, 2025)

WiFi-based Global Localization in Large-Scale Environments Leveraging Structural Priors from osmAG. - Xu Ma; Jiajie Zhang; Fujing Xie; Sören Schwertfeger (CoRR, 2025)