Intern
Robotics

Publications

Publication list of Andreas Nüchter

2024[ to top ]
  • Uni-Fusion: Universal Con...
    Uni-Fusion: Universal Continuous Mapping. Yuan, Y.; Nüchter, A. In IEEE Transactions on Robotics (T-RO), 40, pp. 1373–1392. 2024.
2023[ to top ]
  • 3D laser imaging for meas...
    3D laser imaging for measuring volumetric shrinkage of horticultural products during drying process. Mollazade, K.; van der Lucht, J.; Jörissen, S.; Nüchter, A. In Computers and Electronics in Agriculture, 207, p. 107749. 2023.
  • Infradar-Localization: si...
    Infradar-Localization: single-chip infrared- and radar-based Monte Carlo localization. Wang, D.; Masannek, M.; May, S.; Nüchter, A. In Proceedings of the 19th IEEE International Conference on Automation Science and Engineering (CASE ’23), pp. 1–8. Auckland, New Zealand, 2023.
  • Smoothed Normal Distribut...
    Smoothed Normal Distribution Transform for Efficient Point Cloud Registration During Space Rendezvous. Renaut, L.; Frei, H.; Nüchter, A. In Proceedings of the 18th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications -- Volume 5: VISAPP, pp. 919–930. SciTePress, 2023.
  • Online Learning of Neural...
    Online Learning of Neural Surface Light Fields Alongside Real-Time Incremental 3D Reconstruction. Yuan, Y.; Nüchter, A. In IEEE Robotics and Automation Letters (RAL), 8(6), pp. 3843–3850. 2023.
  • Non-invasive identificati...
    Non-invasive identification of lunar rocks with optical and LiDAR systems. Gmöhling, M.; Köhl, S.; Zevering, J.; Borrmann, D.; Ferrari, S.; Penasa, L.; Pozzobon, R.; Nüchter, A. In Proceedings of the 4th International Planetary Caves Conference 2023 (PCC ’23). Universities Space Research Association, Lunar and Planetary Institute, Haría Municipality, Lanzarote, Spain, 2023.
  • Terrain segmentation for ...
    Terrain segmentation for commercial vehicles and working machines. Edlinger, R.; Mitterhuber, U.; Nüchter, A. In Proceedings of the IS\&T International Symposium on Electronic Imaging Science and Technology, of Electronic Imaging, pp. 324–1. Society for Imaging Science and Technology, San Francisco, CA, USA, 2023.
  • Lidar Pose Tracking of a ...
    Lidar Pose Tracking of a Tumbling Spacecraft Using the Smoothed Normal Distribution Transform. Renaut, L.; Frei, H.; Nüchter, A. In Remote Sensing, 15(9). 2023.
  • LIDAR BASED POSE TRACKING...
    LIDAR BASED POSE TRACKING OF AN UNCOOPERATIVE SPACECRAFT USING THE SMOOTHED NORMAL DISTRIBUTION TRANSFORM. Renaut, L.; Frei, H.; Nüchter, A. In Proceedings of the 12th International Conference on Guidance, Navigation & Control Systems (GNC ’23), pp. 1–12. ESA, Sopot, Poland, 2023.
  • Inverse Kinematics of an ...
    Inverse Kinematics of an Anthropomorphic 6R Robot Manipulator Based on a Simple Geometric Approach for Embedded Systems. Anschober, M.; Edlinger, R.; Froschauer, R.; Nüchter, A. In Robotics, 12(4). MDPI, 2023.
  • BED-BPP: Benchmarking dat...
    BED-BPP: Benchmarking dataset for robotic bin packing problems. Kagerer, F.; Beinhofer, M.; Stricker, S.; Nüchter, A. In The International Journal of Robotics Research, p. 02783649231193048. 2023.
  • Semantic Classification i...
    Semantic Classification in Uncolored 3D Point Clouds using Multiscale Features. Neumann, M.; Borrmann, D.; Nüchter, A. In Proceedings of the 17th Conference on Intelligent Autonomous Systems (IAS ’22), of Lecture Notes in Networks and Systems, pp. 342–359. Zagreb, Croatia, 2023.
  • Visual odometry and mappi...
    Visual odometry and mapping under poor visibility conditions using a stereo infrared thermal imaging system. Edlinger, R.; Himmelbauer, G.; Zauner, G.; Nüchter, A. In Proceedings of the IS\&T International Symposium on Electronic Imaging Science and Technology, of Electronic Imaging, pp. 325–1. Society for Imaging Science and Technology, San Francisco, CA, USA, 2023.
  • Delta Filter -- Robust Vi...
    Delta Filter -- Robust Visual-Inertial Pose Estimation in Real-Time: A Multi-Trajectory Filter on a Spherical Mobile Mapping System. Arzberger, F.; Wiecha, F.; Zevering, J.; Rothe, J.; Borrmann, D.; Montenegro, S.; Nüchter, A. In Proceedings of the 2023 European Conference on Mobile Robots (ECMR ’23), pp. 1–8. 2023.
  • Feel the Point Clouds: Tr...
    Feel the Point Clouds: Traversability Prediction and Tactile Terrain Detection Information for an Improved Human-Robot Interaction. Edlinger, R.; Nüchter, A. In Proceedings of the 32st IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), pp. 1121–1128. Busan, Korea, 2023.
  • Transfer Learning for LUL...
    Transfer Learning for LULC Classification on multi-modal data in the Amazon Basin. Hell, M.; Brandmeier, M.; and A. Nüchter. In Proceedings of the EGU General Assembly 2023. Vienna, Austria \& Online, 2023.
2022[ to top ]
  • Finding and Following Opt...
    Finding and Following Optimal Trajectories for an Overactuated Floating Robotic Platform. Bredenbeck, A.; Vyas, S.; Suter, W.; Zwick, M.; Borrmann, D.; Olivares-Mendez, M.; Nüchter, A. In 16th Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA ’22). ESA, Noordwijk, Netherlands, 2022.
  • Entwicklung einer randomi...
    Entwicklung einer randomisierten Hough-Transformation zur Zylinderdetektion in Laserscans. Menninger, S.; Bleier, and M.; Nüchter, A. In Photogrammetrie Laserscanning Optische 3D-Messtechnik, Beiträge der Oldenburger 3D-Tage 2022, Jade Hochschule, pp. 260–267. Wichmann, 2022.
  • Aerial 3D Mapping with Co...
    Aerial 3D Mapping with Continuous Time ICP for Urban Search and Rescue. Lauterbach, H. A.; Nüchter, A. In Autonomous Mobile Mapping Robots, J. B\ce}}dkowski (ed.). IntechOpen, Rijeka, Croatia, 2022.
  • AI supported Multi-Functi...
    AI supported Multi-Functional Gripping System for Dexterous Manipulation Tasks. Edlinger, R.; Föls, C.; Mitterhuber, U.; Nüchter, A. In Proceedings of the IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR ’22), pp. 145–152. Seville, Spain, 2022.
  • An Algorithm for the SE(3...
    An Algorithm for the SE(3)-Transformation on Neural Implicit Maps for Remapping Functions. Yuan, Y.; Nüchter, A. In IEEE Robotics and Automation Letters (RAL), 7(3), pp. 7763–7770. 2022.
  • Door Pose Estimation and ...
    Door Pose Estimation and Robot Positioning for Autonomous Door Opening. Mitterhuber, U.; Edlinger, R.; Froschauer, R.; Nüchter, A. In Proceedings of the Autrian Robotics Workshop (ARW ’22), M. Brandstötter, G. Steinbauer-Wagner, J. Piater, and L.-M. Faller (eds.), pp. 36–41. Villach, Austria, 2022.
  • An approach for monitorin...
    An approach for monitoring temperature on fruit surface by means of thermal point cloud. Tsoulias, N.; Jörissen, S.; Nüchter, A. In MethodsX, 9, p. 101712. 2022.
  • An innovative pick-up and...
    An innovative pick-up and transport robot system for casualty evacuation. Edlinger, R.; Föls, C.; Nüchter, A. In Proceedings of the IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR ’22), pp. 67–73. Seville, Spain, 2022.
  • Radiance values inside lu...
    Radiance values inside lunar caves and lava tubes. Rodeghiero, G.; Pernechele, C.; Munari, M.; Pozzobon, R.; Pajola, M.; Antonio, I. Di; Lucchetti, A.; Massironi, M.; Simioni, E.; Borrmann, D.; Maurelli, F.; Nüchter, A.; Rossi, A. P. In Space Telescopes and Instrumentation 2022: Optical, Infrared, and Millimeter Wave, Vol. 12180, L. E. Coyle, S. Matsuura, M. D. Perrin (eds.), p. 121803B. SPIE, 2022.
  • Advances in Mobile Mappin...
    Advances in Mobile Mapping Technologies. Lehtola, V.; Nüchter, A.; Goulette, F. In of (This book is a printed edition of the Special Issue Advances in Mobile Mapping Technologies that was published in Remote Sensing). MDPI, Basel, Switzerland, 2022.
  • Pose estimation and mappi...
    Pose estimation and mapping based on IMU and LiDAR. Kaltenthaler, J.; Lauterbach, H. A.; Borrmann, D.; Nüchter, A. In Proceedings of the 6th IFAC Symposium on Telematics Applications (TA ’22), pp. 71–76. Nancy, France, 2022.
  • KINECT BACKPACK FOR RAPID...
    KINECT BACKPACK FOR RAPID MOBILE INDOOR MAPPING. Bleier, M.; van der Lucht, J.; Nüchter, A. In Proceedings of the ISPRS Congress 2022, of ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences, pp. 121–127. Nice, France, 2022.
  • Field Experiments with an...
    Field Experiments with an Automated Utility Platform for Transportation and Work Processes. Edlinger, R.; Dumberger, S.; Froschauer, R.; Pointner, W.; Zeilinger, M.; Nüchter, A. In Proceedings of the IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC ’22), pp. 21–26. Santa Maria da Feira, Portugal, 2022.
  • Modular HRI Approach with...
    Modular HRI Approach with reliable and resilient wireless communication for rescue robots and first responders. Edlinger, R.; Anschober, M.; Froschauer, R.; Nüchter, A. In 31st IEEE International Conference on Robot and Human Interactive Communication (RO-MAN’22). Napoli, Italy, 2022.
  • Mobile 3D scanning and ma...
    Mobile 3D scanning and mapping for freely rotating and vertically descended LiDAR. Arzberger, F.; Zevering, J.; Bredenbeck, A.; Borrmann, D.; Nüchter, A. In Proceedings of the IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR ’22), pp. 122–129. Seville, Spain, 2022.
  • Melt Electrowriting of Po...
    Melt Electrowriting of Poly(dioxanone) Filament Using a Multi-Axis Robot. Luposchainsky, S.; Jörissen, S.; Nüchter, A.; Dalton, P. D. In Macromolecular Materials and Engineering, p. 2200450. 2022.
  • Indirect Point Cloud Regi...
    Indirect Point Cloud Registration: Aligning Distance Fields Using a Pseudo Third Point Set. Yuan, Y.; Nüchter, A. In IEEE Robotics and Automation Letters (RAL), 7(3), pp. 7075–7082. 2022.
  • Dynamic Point Cloud Compr...
    Dynamic Point Cloud Compression Based on Projections, Surface Reconstruction and Video Compression. Dumic, E.; Bjelopera, A.; Nüchter, A. In Sensors, 22(1). 2022.
  • Advanced Edge Detection o...
    Advanced Edge Detection of AprilTags for Precise Docking Maneuvers of Mobile Robots. Richter, J.; Bohlig, D.; Nüchter, A.; Schilling, K. In Proceedings of the 6th IFAC Symposium on Telematics Applications (TA ’22), pp. 117–123. Nancy, France, 2022.
  • Solving Disaster-response...
    Solving Disaster-response Tasks at a Nuclear Power Plant under Realistic Conditions. Edlinger, R.; Dumberger, S.; Föls, C.; Zouhar, D.; Nüchter, A. In Proceedings of the IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC ’22), pp. 104–109. Santa Maria da Feira, Portugal, 2022.
  • Testing AGV mobility control method for MANET coverage optimization using procedural simulation. Sauer, C.; Lyczkowski, E.; Schmidt, M.; Nüchter, A.; Hoßfeld, T. In Computer Communications, 194, pp. 189–201. 2022.
  • The concept of a maximal ...
    The concept of a maximal network plan to enhance automated decision making in production steering. Larek, R.; Wagner, J. C.; Grendel, H.; Nüchter, A. In Production Engineering. 2022.
  • The concept of rod-driven...
    The concept of rod-driven locomotion for spherical lunar exploration robots. Zevering, J.; Borrmann, D.; Bredenbeck, A.; Nüchter, A. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS ’22), pp. 5656–5663. Kyoto, Japan, 2022.
  • Synergetic use of Sentine...
    Synergetic use of Sentinel-1 and Sentinel-2 data for large-scale Land Use/Land Cover Mapping. Brandmeier, M.; Hell, M.; Cherif, E.; Nüchter, A. In Proceedings of the EGU General Assembly 2022, Poster: Novel Methods and Applications of Satellite and Aerial Imagery. Vienna, Austria \& Online, 2022.
  • Terrain prediction with a...
    Terrain prediction with a low-cost LIDAR sensor for mobile robots. Edlinger, R.; Nüchter, A. In Proceedings of LowCost3D 2022, of ISPRS Int. Archives Photogrammetry and Remote Sensing, Spatial Inf. Sci., XLVIII-2/W1-2022, pp. 81–86. Würzburg, Germany, 2022.
  • Trajectory Optimization a...
    Trajectory Optimization and Following for a Three Degrees of Freedom Overactuated Floating Platform. Bredenbeck, A.; Vyas, S.; Zwick, M.; Borrmann, D.; Olivares-Mendez, M.A.; Nüchter, A. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS ’22), pp. 4084–4091. Kyoto, Japan, 2022.
  • Unconventional Trajectori...
    Unconventional Trajectories for Mobile 3D Scanning and Mapping. Arzberger, F.; Zevering, J.; Bredenbeck, A.; Borrmann, D.; Nüchter, A. In Autonomous Mobile Mapping Robots, J. B\ce}}dkowski (ed.). IntechOpen, Rijeka, Croatia, 2022.
  • Visuelle Odometrie und SL...
    Visuelle Odometrie und SLAM für die Bewegungs-kompensation und mobile Kartierung mit einem optischen 3D-Unterwassersensor. Bleier, M.; Munkelt, C.; Heinze, M.; Bräuer-Burchardt, C.; Lauterbach, H. A.; van der Lucht, J.; Nüchter, A. In Photogrammetrie Laserscanning Optische 3D-Messtechnik, Beiträge der Oldenburger 3D-Tage 2022, Jade Hochschule, pp. 394–405. Wichmann, 2022.
  • WIP: Real-world 3D models...
    WIP: Real-world 3D models derived from mobile mapping for ray launching based propagation loss modeling. Wahl, T.; Borrmann, D.; Bleier, M.; Nüchter, A.; Wiemann, T.; Hänel, T.; Aschenbruck, N. In Proceedings of the 23rd IEEE International Symposium on a World of Wireless, Mobile and Multimedia Networks (WoWMoM ’22), pp. 1–4. Belfast, UK, 2022.
  • Sensor fusion of IMU and ...
    Sensor fusion of IMU and GPS for geofencing on an industrial control system for safe mowing in road areas. Dumberger, S.; Edlinger, R.; Bauer, P.; Zauner, M.; Nüchter, A. In Proceedings of the Autrian Robotics Workshop (ARW ’22), M. Brandstötter, G. Steinbauer-Wagner, J. Piater, and L.-M. Faller (eds.), pp. 91–96. Villach, Austria, 2022.
2021[ to top ]
  • DAEDALUS -- Descent And E...
    DAEDALUS -- Descent And Exploration in Deep Autonomy of Lava Underground Structures. Rossi, A. P.; Maurelli, F.; Unnithan, V.; Dreger, H.; Mathewos, K.; Pradhan, N.; Corbeanu, D.-A.; Pozzobon, R.; Massironi, M.; Ferrari, S.; Pernechele, C.; Paoletti, L.; Simioni, E.; Pajola, M.; Santagata, T.; Borrmann, D.; Nüchter, A.; Bredenbeck, A.; Zevering, J.; Arzberger, F.; Mantilla, C. A. R. In of Uni Wuerzburg Research Notes in Robotics and Telematics, pp. 1–190. Julius Maximilian University of Würzburg, 2021.
  • IMU-based pose-estimation...
    IMU-based pose-estimation for spherical robots with limited resources. Zevering, J.; Bredenbeck, A.; Arzberger, F.; Borrmann, D.; Nüchter, A. In Proceedings of the IEEE International Conference on Multisensor Fusion and Integration (MFI ’21). Karlsruhe, Germany, 2021.
  • Towards spherical robots ...
    Towards spherical robots for mobile mapping in human made environments. Arzberger, F.; Bredenbeck, A.; Zevering, J.; Borrmann, D.; Nüchter, A. In ISPRS Open Journal of Photogrammetry and Remote Sensing (OJPRS), 1, p. 100004. 2021.
  • Combining LiDAR Scan Matc...
    Combining LiDAR Scan Matching with Stereo Visual Odometry Using Curvefusion. Du, S.; Li, X.; Lauterbach, H. A.; Borrmann, D.; Nüchter, A. In Proceedings of the IEEE International Conference on Computer, Control and Robotics (ICCCR ’21), pp. 335–339. 2021.
  • L.U.N.A. - A Laser-Mappin...
    L.U.N.A. - A Laser-Mapping Unidirectional Navigation Actuator. Zevering, J.; Bredenbeck, A.; Arzberger, F.; Borrmann, D.; Nüchter, A. In Proceedings of the 17th International Symposium of Experimental Robotics (ISER ’20), of Springer Proceedings in Advanced Robotics, pp. 85–94. Valetta, Malta, 2021.
  • CALIBRATION AND VALIDATIO...
    CALIBRATION AND VALIDATION OF THE INTEL T265 FOR VISUAL LOCALISATION AND TRACKING UNDERWATER. Appelt, T.; van der Lucht, J.; Bleier, M.; Nüchter, A. In Proceedings of the ISPRS Congress 2021, of The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, pp. 635–641. Nice, France, 2021.
  • Lunar Caves Exploration w...
    Lunar Caves Exploration with the DAEDALUS Spherical Robot. Borrmann, D.; Nüchter, A.; Bredenbeck, A.; Zevering, J.; Arzberger, F.; Mantilla, C. A. Reyes; Rossi, A. P.; Maurelli, F.; Unnithan, V.; Dreger, H.; Mathewos, K.; Pradhan, N.; Pozzobon, R.; Massironi, M.; Ferrari, S.; Pernechele, C.; Paoletti, L.; Simioni, E.; Pajola, M.; Santagata, T. In Proceedings of the 52nd Lunar and Planetary Science Conference (LPSC ’21). Universities Space Research Association, Lunar and Planetary Institute, virtual meeting, 2021.
  • Marius Hills Skylight haz...
    Marius Hills Skylight hazard characterization as a possible landing site for lunar subsurface exploration. Pozzobon, R.; Rossi, A. P.; Ferrari, S.; Massironi, M.; Pajola, M.; Nüchter, A.; Borrmann, D.; Zevering, J.; Bredenbeck, A.; Arzberger, F.; Mantilla, C. A. Reyes; Maurelli, F.; Unnithan, V.; Dreger, H.; Mathewos, K.; Pradhan, N.; Pernechele, C.; Paoletti, L.; Simioni, E.; Santagata, T. In Proceedings of the 52nd Lunar and Planetary Science Conference (LPSC ’21). Universities Space Research Association, Lunar and Planetary Institute, virtual meeting, 2021.
  • Self-Supervised Point Set...
    Self-Supervised Point Set Local Descriptors for Point Cloud Registration. Yuan, Y.; Borrmann, D.; Hou, J.; Ma, Y.; Schwertfeger, S.; Nüchter, A. In Sensors, 21(2), p. 486. 2021.
  • Testing AGV Mobility Cont...
    Testing AGV Mobility Control Method for MANET Coverage Optimization using Procedural Generation. Sauer, C.; Lyczkowski, E.; Schmidt, M.; Nüchter, A.; Hoßfeld, T. In Proceedings of the ACM Conference MSWiM: Modeling, Analysis and Simulation of Wireless and Mobile Systems. Alicante, Spain, 2021.
  • Indoor 3D: Overview on Sc...
    Indoor 3D: Overview on Scanning and Reconstruction Methods. Lehtola, V. V.; Nikoohemat, S.; Nüchter, A. In Handbook of Big Geospatial Data, M. Werner, Y.-Y. Chiang (eds.), pp. 55–97. Springer International Publishing, Cham, 2021.
  • Measuring internal qualit...
    Measuring internal quality traits in egg by 3D laser imaging. Mollazade, K.; Jörissen, S.; Nüchter, A. In Journal of Food Engineering, 291(02), pp. 1–14. 2021.
  • SCOUT3D -- ein Unterwasse...
    SCOUT3D -- ein Unterwasser-Laserscanner für mobile Kartierung. Bleier, M.; van der Lucht, J.; Nüchter, A. In Allgemeine Vermessungs-Nachrichten (AVN), 128(4), pp. 171–180. 2021.
  • Stability metrics and imp...
    Stability metrics and improved odometry prediction for tracked vehicles with tactile sensors. Edlinger, R.; Föls, C.; Froschauer, R.; Nüchter, A. In IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR ’21), pp. 1–6. New York, USA, 2021.
  • RADLER -- A UNICYCLE AS A...
    RADLER -- A UNICYCLE AS A LOW-COST RADIAL LASER SCANNER. Borrmann, D.; Jörissen, S.; Nüchter, A. In Proceedings of the ISPRS Congress 2021, of ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences, pp. 65–72. Nice, France, 2021.
2020[ to top ]
  • Analytical Change Detecti...
    Analytical Change Detection on the KITTI Dataset. Schauer, J.; Nüchter, A. In Proceedings of the 14th IEEE International Conference on Control, Automation, Robotics and Vision (ICARCV ’20). Shenzhen, China, 2020.
  • Signed Distance Based Rec...
    Signed Distance Based Reconstruction for Exploration and Change Detection in Underground Mining Disaster Prevention. Koch, P.; Engelhardt, H.; May, S.; Schmidpeter, M.; Ziegler, J.; Nüchter, A. In IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR ’20), pp. 1–6. 2020.
  • Curvefusion --- A Method ...
    Curvefusion --- A Method for Combining Estimated Trajectories with Applications to SLAM and Time-Calibration. Du, S.; Lauterbach, H. A.; Li, X.; Demisse, G. G.; Borrmann, D.; Nüchter, A. In Sensors, 20(23), p. 6918. 2020.
  • Laserscanbasierte Ändreu...
    Laserscanbasierte Ändreungsanalyse am Beispiel der Langen Anna auf Helgoland. Borrmann, D.; Lauterbach, H.; Houshiar, H.; Rossi, A. Pio; Unnitham, V.; Nüchter, A. In Photogrammetrie Laserscanning Optische 3D-Messtechnik, Beiträge der Oldenburger 3D-Tage 2020, Jade Hochschule, pp. 186–197. 2020.
  • SCOUT3D -- ein Unterwasse...
    SCOUT3D -- ein Unterwasser-Laserscanner für mobile Kartierung. Bleier, M.; van der Lucht, J.; Nüchter, A. In Photogrammetrie Laserscanning Optische 3D-Messtechnik, Beiträge der Oldenburger 3D-Tage 2020, Jade Hochschule, pp. 82–93. 2020.
  • RADLER -- ein Einrad als ...
    RADLER -- ein Einrad als RADialer LasERscanner. Borrmann, D.; Jörissen, S.; Nüchter, A. In Allgemeine Vermessungs-Nachrichten (AVN), 127(1), pp. 18–27. 2020.
  • Formations of Small Satel...
    Formations of Small Satellites to Realize Sensor Networks for Earth Observation. Schilling, K.; Nüchter, A. In Proceedings of the 24th IMEKO TC4 International Symposium. The International Measurement Confederation, Palermo, Italy (online), 2020.
  • Different Points of View:...
    Different Points of View: Impact of 3D Point Cloud Reduction on QoE of Rendered Images. Seufert, M.; Kargl, J.; Schauer, J.; Nüchter, A.; Hoßfeld, T. In IEEE 12th International Conference on Quality of Multimedia Experience (QoMEX), pp. 1–6. 2020.
  • Feature Detection With a ...
    Feature Detection With a Constant FAR in Sparse 3-D Point Cloud Data. Lühr, D.; Adams, M.; Houshiar, H.; Borrmann, D.; Nüchter, A. In IEEE Transactions on Geoscience and Remote Sensing, 58(3), pp. 1877–1891. 2020.
2019[ to top ]
  • Towards an Underwater 3D ...
    Towards an Underwater 3D Laser Scanning System for Mobile Mapping. Bleier, M.; van der Lucht, J.; Nüchter, A. In Proceedings of the IEEE ICRA Workshop on Underwater Robotic Perception (ICRAURP ’19). Montreal, Canada, 2019.
  • 3D UNDERWATER MINE MODELL...
    3D UNDERWATER MINE MODELLING IN THE VAMOS PROJECT. Bleier, M.; Almeida, C.; Ferreira, A.; Pereira, R.; Matias, B.; Almeida, J.; Pidgeon, J.; van der Lucht, J.; Schilling, K.; Martins, A.; Silva, E.; Nüchter, A. In Proceedings of the 2nd ISPRS International Workshop Underwater 3D Recording \& Modelling: A tool for modern applications and CH recording, of ISPRS Archives Photogrammetry and Remote Senssing Spatial Information Science, Volume XLII-2/W10, pp. 105–112. Limassol, Cyprus, 2019.
  • Imaging the subsurface of...
    Imaging the subsurface of planetary volcanic analogues using ambient seismic noise data at the Tinguatón Volcano (Lanzarote, Canary Islands). Torrese, P.; Rossi, A. Pio; Unnithan, V.; Borrmann, D.; Lauterbach, H.; Luzzi, E.; Pozzobon, R.; Sauro, F.; Bessone, L.; Nüchter, A. In Proceedings of the EGU General Assembly 2019, Poster: New mission concepts, enabling technologies and terrestrial analogue studies for planetary explorationn. Vienna, Austria, 2019.
  • Self-calibrated Surface A...
    Self-calibrated Surface Acquisition for Integrated Positioning Verification in Medical Applications. Jörissen, S.; Bleier, M.; Nüchter, A. In Proceedings of the IS\&T International Symposium on Electronic Imaging Science and Technology, of Electronic Imaging, pp. 353–1. Society for Imaging Science and Technology, San Francisco, CA, USA, 2019.
  • Signed Distance Based Rec...
    Signed Distance Based Reconstruction for Exploration and Change Detection in Underground Mining Disaster Prevention. Koch, P.; May, S.; Engelhardt, H.; Ziegler, J.; Nüchter, A. In IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR ’19), pp. 1–2. 2019.
  • SCOUT3D -- An underwater ...
    SCOUT3D -- An underwater laser scanning system for mobile mapping. Bleier, M.; v.d. Lucht, J.; Nüchter, A. In Proceedings of Optical 3D Metrology 2019, of ISPRS Int. Archieves Photogrammetry and Remote Sensing, Spatial Inf. Sci., XLII-2/W18, pp. 13–18. Strasbourg, France, 2019.
  • Satellite Technology: An international, interdisciplinary master program with focus on hands-on experiences. Schilling, K.; Nüchter, A.; Montenegro, S. In Proceedings 70th International Astronautical Congress. Washington D.C., USA, 2019.
  • Position and orientation ...
    Position and orientation of sensors for unmanned vehicle systems. Nüchter, A. In Unmanned Vehicle Systems for Geomatics -- Towards Robotic Mapping, P. Patias, C. Armenakis (eds.). Whittles Publishing, 2019.
  • RADLER -- Ein Einrad als ...
    RADLER -- Ein Einrad als RADialer LasER Scanner. Borrmann, D.; Jörissen, S.; Nüchter, A. In Photogrammetrie Laserscanning Optische 3D-Messtechnik, Beiträge der Oldenburger 3D-Tage 2019, Jade Hochschule, pp. 12–21. 2019.
  • A low cost underwater tes...
    A low cost underwater test environment. van der Lucht, J.; Bleier, M.; Nüchter, A. In Proceedings of LowCost 3D 2019, of ISPRS Int. Archieves Photogrammetry and Remote Sensing, Spatial Inf. Sci., XLII-2/W17, pp. 399–404. Strasbourg, France, 2019.
  • Technical Report: Reducti...
    Technical Report: Reduction and Compression using Octrees --- 3DTK’s entry to the ICIP 2019 Challenge on Point Cloud Coding. Nüchter, A.; Schauer, J.; Borrmann, D. Robotics and Telematics, University of Würzburg, Würzburg, Germany, 2019.
  • Korrektur der Brechung an...
    Korrektur der Brechung an der Wasseroberfläche beim triangulationsbasierten 3D-Laserscannen. van der Lucht, J.; Bleier, M.; Leutert, F.; Schilling, K.; Nüchter, A. In Allgemeine Vermessungs-Nachrichten (AVN), 126, pp. 43–52. 2019.
  • Mobile mapping of the La ...
    Mobile mapping of the La Corona lavatube on Lanzarote. Lauterbach, H. A.; Borrmann, D.; Nüchter, A.; Rossi, A. P.; Unnithan, V.; Torrese, P.; Pozzobon, R. In Proceedings of the ISPRS Geospatial Week 2019, Laserscanning 2019, of ISPRS Annals Photogrammetry and Remote Sensing, Spatial Inf. Sci., IV-2/W5, pp. 381–387. Enschede, Netherlands, 2019.
  • The Golden Bullet: A Comp...
    The Golden Bullet: A Comparative Study for Target Acquisition, Pointing and Shooting. Heydn, K. A. M.; Dietrich, M. P.; Barkowsky, M.; Winterfeldt, G.; von Mammen, S.; Nüchter, A. In 11th International Conference on Virtual Worlds and Games for Serious Applications (VS-Games ’19), pp. 1–8. 2019.
  • The Eins3D Project -- Ins...
    The Eins3D Project -- Instantaneous UAV-Based 3D Mapping for Search and Rescue Applications. Lauterbach, H. A.; Koch, C. B.; Hess, R.; Eck, D.; Schilling, K.; Nüchter, A. In IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR ’19), pp. 1–6. 2019.
  • Projection based dynamic ...
    Projection based dynamic point cloud compression using 3DTK toolkit and H.265/HEVC. Dumic, E.; Bjelopera, A.; Nüchter, A. In Proceedings of the 2nd International Colloquium on Smart Grid Metrology (SMAGRIMET’’19), pp. 1–4. IEEE Xplore, Split, Croatia, 2019.
  • MARC -- Modular Autonomou...
    MARC -- Modular Autonomous Adaptable Robot Concept. Edlinger, R.; Nüchter, A. In IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR ’19), pp. 1–7. 2019.
2018[ to top ]
  • Positioning. Navigation a...
    Positioning. Navigation and Awareness of the !VAMOS! Underwater Robotic Mining System. Almeida, J.; Martins, A.; Almeida, C.; Dias, A.; Matias, B.; Ferreira, A.; Jorge, P.; Martins, R.; Bleier, M.; Nüchter, A.; Pidgeon, J.; Kapusniak, S.; Silva, E. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS ’18), pp. 1527–1533. 2018.
  • Preliminary Results on In...
    Preliminary Results on Instantaneous UAV-Based 3D Mapping for Rescue Applications. Lauterbach, H. A.; Nüchter, A. In Proceedings of the 16th IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR ’18), pp. 1–2. Philadelphia, PA, USA, 2018.
  • Reconstructing the subsur...
    Reconstructing the subsurface of planetary volcanic analogues: ERT imaging of Lanzarote lava tubes complemented with drone stereogrammetry, surface and in-cave LiDAR and seismic investigations (Poster). Torrese, P.; Rossi, A. Pio; Unnithan, V.; Borrmann, D.; Lauterbach, H.; Ortenzi, G.; Jährig, T.; Pozzobon, R.; Sauro, F.; Santagata, T.; Nüchter, A.; Sohl, F. In Proceedings of the EGU General Assembly 2018, Pico session: Planetary geobiological analogs for Mars and beyond: Field, lab and simulations, Vol. 20. Vienna, Austria, 2018.
  • RADLER - A RADial LasER s...
    RADLER - A RADial LasER scanning device. Borrmann, D.; Jörissen, S.; Nüchter, A. In Proceedings of the 16th International Symposium of Experimental Robotics (ISER ’18), of Springer Tracts in Advanced Robotics, pp. 655–664. Buenos Aires, Argentina, 2018.
  • TOM: A formation for photogrammetric earth observation by three cubesats. Schilling, K.; Tzschichholz, T.; Motroniuk, I.; Aumann, A.; Mammadov, I.; Ruf, O.; Schmidt, C.; Appel, N.; Kleinschrodt, A.; Montenegro, S.; Nüchter, A. In Proceedings IAA-ASS-17 : International Academy of Astronautics, Vol. 163 of Advances in the Astronautical Sciences 4th IAA Dynamics and Control of Space Systems Conference, pp. 1–14. Univelt, Inc., Rome, Italy, 2018.
  • Structured-light based 3D...
    Structured-light based 3D laser scanning of semi-submerged structures. van der Lucht, J.; Bleier, M.; Leutert, F.; Schilling, K.; Nüchter, A. In Proceedings of the Technical Commision II Mid-term Symposium ``Towards Photogrammetry 2020’’, of ISPRS Annals Photogrammetry and Remote Sensing, Spatial Inf. Sci., IV-2, pp. 287–294. Riva del Garda, Italy, 2018.
  • Korrektur der Brechung an...
    Korrektur der Brechung an der Wasseroberfläche beim triangulationsbasierten 3D-Laserscannen. van der Lucht, J.; Bleier, M.; Leutert, F.; Schilling, K.; Nüchter, A. In Photogrammetrie Laserscanning Optische 3D-Messtechnik, Beiträge der Oldenburger 3D-Tage 2018, Jade Hochschule, pp. 87–102. 2018.
  • Removing non-static objec...
    Removing non-static objects from 3D laser scan data. Schauer, Johannes; Nüchter, Andreas. In ISPRS Journal of Photogrammetry and Remote Sensing (JPRS), 143, pp. 15–38. 2018.
  • The Peopleremover --- Rem...
    The Peopleremover --- Removing Dynamic Objects From 3-D Point Cloud Data by Traversing a Voxel Occupancy Grid. Schauer, J.; Nüchter, A. In IEEE Robotics and Automation Letters (RAL), 3(3), pp. 1679–1686. 2018.
  • Workshop: Large-Scale 3D Point Cloud Processing for Mixed and Augmented Reality. Borrmann, D.; Nüchter, A.; Wiemann, T. In IEEE International Symposium on Mixed and Augmented Reality Adjunct (ISMAR-Adjunct ’08), p. xxxv. 2018.
  • Continuous-Time SLAM --- ...
    Continuous-Time SLAM --- Improving Google’s Cartographer 3D Mapping. Nüchter, A.; Bleier, M.; Schauer, J.; Janotta, P. In Latest Developments in Reality-Based 3D Surveying and Modelling, F. Remondino, A. Georgopoulos, D. Gonzalez-Aguilera, P. Agrafiotis (eds.), pp. 53–73. MDPI, Basel, Switzerland, 2018.
  • Augmented field Geology a...
    Augmented field Geology and Geophysics for Planetary Analogues (Poster). Rossi, A. Pio; Unnithan, V.; Torrese, P.; Borrmann, D.; Nüchter, A.; Lauterbach, H.; Ortenzi, G.; Jährig, T.; Sohl, F. In Proceedings of the EGU General Assembly 2018, Pico session: Planetary geobiological analogs for Mars and beyond: Field, lab and simulations, Vol. 20. Vienna, Austria, 2018.
  • Body Weight Estimation fo...
    Body Weight Estimation for Dose-Finding and Health Monitoring of Lying, Standing and Walking Patients Based on RGB-D Data. Pfitzner, C.; May, S.; Nüchter, A. In Sensors, 18(5). 2018.
  • Benchmarking Structure fr...
    Benchmarking Structure from Motion Algorithms of Urban Environments with Applications to Reconnaissance in Search and Rescue Scenarios. Martell, A.; Lauterbach, H. A.; Schilling, K.; Nüchter, A. In Proceedings of the 16th IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR ’18), pp. 1–7. Philadelphia, PA, USA, 2018.
2017[ to top ]
  • Detection and Purging of ...
    Detection and Purging of Specular Reflective and Transparent Object Influences in 3D Range Measurements. Koch, R.; May, S.; Nüchter, A. In Proceedings of the 7th ISPRS International Workshop 3D-ARCH 2017: "3D Virtual Reconstruction and Visualization of Complex Architectures", of ISPRS Archives Photogrammetry and Remote Senssing Spatial Inf. Sci., Volume XLII/W3, pp. 377–384. Nafplio, Greece, 2017.
  • Real-time 3D Mine Modelli...
    Real-time 3D Mine Modelling in the !VAMOS! Project. Bleier, M.; Dias, A.; Ferreira, A.; Pidgeon, J.; Almeida, J.; Silva, E.; Schilling, K.; Nüchter, A. In Real Time Mining, M. Buxton, J. Benndorf (eds.), pp. 91–102. Technische Universität Bergakademie Freiberg, Institut für Markscheidewesen und Geodäsie, Amsterdam, The Netherlands, 2017.
  • Effective Distinction Of ...
    Effective Distinction Of Transparent And Specular Reflective Objects In Point Clouds Of A Multi-Echo Laser Scanner. Koch, R.; May, S.; Nüchter, A. In Proceedings of the 18th IEEE International Conference on Advanced Robotics (ICAR ’17), pp. 566–571. Hong Kong, China, 2017.
  • Out of lab calibration of...
    Out of lab calibration of a rotating 2D scanner for 3D mapping. Koch, R.; Böttcher, L.; Jahrsdörfer, M.; Maier, J.; Trommer, M.; May, S.; Nüchter, A. In Proceedings of the SPIE optical metrology, Videometrics, Range Imaging, and Applications, Vol. 10332, pp. 10332 – 10332 . Munich, Germany, 2017.
  • Digitizing automotive pro...
    Digitizing automotive production lines without interrupting assembly operations through an automatic voxel-based removal of moving objects. Schauer, J.; Nüchter, A. In Proceedings of the 13th IEEE International Conference on Control and Automation (ICCA ’17), pp. 701–706. Ohrid, Macedonia, 2017.
  • Signed Distance Function ...
    Signed Distance Function Based Surface Reconstruction of a Submerged Inland Mine Using Continuous-Time SLAM. Bleier, M.; Dias, A.; Ferreira, A.; Pidgeon, J.; Almeida, J. M.; Silva, E.; Schilling, K.; Nüchter, A. In Proceedings of the 20th World Congress of the International Federation of Automatic Control (IFAC WC ’17). Toulouse, France, 2017.
  • Moving-Object Detection F...
    Moving-Object Detection From Consecutive Stereo Pairs Using Slanted Plane Smoothing. Chen, L.; Fan, L.; Xie, G.; Huang, K.; Nüchter, A. In IEEE Transactions on Intelligent Transportation Systems, 18(11), pp. 1–10. 2017.
  • Identification of Transpa...
    Identification of Transparent and Specular Reflective Material in Laser Scans to Discriminate Affected Measurements for Faultless Robotic SLAM. Koch, R.; May, S.; Murmann, P.; Nüchter, A. In Journal of Robotics and Autonomous Systems (JRAS), 87, pp. 296–312. 2017.
  • Improving Google's Cartog...
    Improving Google’s Cartographer 3D Mapping by Continuous-Time SLAM. Nüchter, A.; Bleier, M.; Schauer, J.; Janotta, P. In Proceedings of the 7th ISPRS International Workshop 3D-ARCH 2017: "3D Virtual Reconstruction and Visualization of Complex Architectures", of ISPRS Archives Photogrammetry and Remote Senssing Spatial Inf. Sci., Volume XLII/W3, pp. 543–549. Nafplio, Greece, 2017.
  • Evaluation of Features fr...
    Evaluation of Features from RGB-D Data for Human Body Weight Estimation. Pfitzner, C.; May, S.; Nüchter, A. In Proceedings of the 20th World Congress of the International Federation of Automatic Control (IFAC WC ’17). Toulouse, France, 2017.
  • Chilean underground mine ...
    Chilean underground mine dataset. Leung, K. Y. K.; Lühr, D.; Houshiar, H.; Inostroza, F.; Borrmann, D.; Adams, M.; Nüchter, A.; del Solar, J. R. In International Journal of Robotics Research (IJRR), 36(1), pp. 16–23. 2017.
  • Autonomous 3D Modelling o...
    Autonomous 3D Modelling of Indoor Spaces. Lehtola, V.; Kaartinen, H.; Nüchter, A. In GIM International, 31(10), pp. 20–23. 2017.
  • Evaluating continuous-tim...
    Evaluating continuous-time SLAM using a predefined trajectory provided by a robotic arm. Koch, B.; Leblebici, R.; Martell, A.; Jörissen, S.; Schilling, K.; Nüchter, A. In Proceedings of the ISPRS Geospatial Week 2017, Laserscanning 2017, of ISPRS Annals Photogrammetry and Remote Sensing, Spatial Inf. Sci., IV-2/W4, pp. 17–23. Wuhan, China, 2017.
  • Teach-In für die 3D-Scan...
    Teach-In für die 3D-Scan Akquise mit einem Roboter. Struckmeier, O.; Borrmann, D.; Nüchter, A. In Photogrammetrie Laserscanning Optische 3D-Messtechnik, Beiträge der Oldenburger 3D-Tage 2017, Jade Hochschule, pp. 108–119. 2017.
  • Low-cost 3D Laser Scannin...
    Low-cost 3D Laser Scanning in Air or Water Using Self-calibrating Structured Light. Bleier, M.; Nüchter, A. In Proceedings of the 7th ISPRS International Workshop 3D-ARCH 2017: "3D Virtual Reconstruction and Visualization of Complex Architectures", of ISPRS Archives Photogrammetry and Remote Senssing Spatial Inf. Sci., Volume XLII/W3, pp. 105–112. Nafplio, Greece, 2017.
  • Towards Mobile Mapping of...
    Towards Mobile Mapping of Underground Mines. Nüchter, A.; Elseberg, J.; Janotta, P. In Real Time Mining, M. Buxton, J. Benndorf (eds.), pp. 27–38. Technische Universität Bergakademie Freiberg, Institut für Markscheidewesen und Geodäsie, Amsterdam, The Netherlands, 2017.
  • Towards Radiometrical Ali...
    Towards Radiometrical Alignment of 3D Point Clouds. Lauterbach, H. A.; Borrmann, D.; Nüchter, A. In Proceedings of the 7th ISPRS International Workshop 3D-ARCH 2017: "3D Virtual Reconstruction and Visualization of Complex Architectures", of ISPRS Archives Photogrammetry and Remote Senssing Spatial Inf. Sci., Volume XLII/W3, pp. 419–424. Nafplio, Greece, 2017.
  • Comparison of the Selecte...
    Comparison of the Selected State-Of-The-Art 3D Indoor Scanning and Point Cloud Generation Methods. Lehtola, V.; Kaartinen, H.; Nüchter, A.; Kaijaluoto, R.; Kukko, A.; Litkey, P.; Honkavaara, E.; Rosnell, T.; Vaaja, M.; Virtanen, J.-P.; et al. In Remote Sensing, p. 796. 2017.
  • Towards robust self-calib...
    Towards robust self-calibration for handheld 3D line laser scanning. Bleier, M.; Nüchter, A. In Proceedings of LowCost 3D 2017, of ISPRS Int. Archieves Photogrammetry and Remote Sensing, Spatial Inf. Sci., XLII-2/W8, pp. 31–36. Hamburg, Germany, 2017.
2016[ to top ]
  • Automatische Grundrissers...
    Automatische Grundrisserstellung mittels Laserscandaten. Borrmann, D.; Leutert, F.; Maurovic, I.; Seder, M.; Nüchter, A. In Photogrammetrie Laserscanning Optische 3D-Messtechnik, Beiträge der Oldenburger 3D-Tage 2016, Jade Hochschule, pp. 108–119. 2016.
  • Multi-Robot Localization ...
    Multi-Robot Localization and Mapping based on Signed Distance Functions. Koch, P.; May, S.; Schmidpeter, M.; Kühn, M.; Pfitzner, C.; Merkl, C.; Koch, R.; Fees, M.; Martin, J.; Nüchter, A. In Journal of Intelligent and Robotic Systems, 83(3), pp. 409–428. 2016.
  • Localization of a Mobile ...
    Localization of a Mobile Laser Scanner via Dimensional Reduction. Lehtola, V. V.; Virtanen, J.-P.; Vaaja, M. T.; Hyyppä, H.; Nüchter, A. In ISPRS Journal of Photogrammetry and Remote Sensing (JPRS), 121, pp. 48–59. 2016.
  • Neural Network-based Visual Body Weight Estimation for Drug Dosage Finding. Pfitzner, C.; May, S.; Nüchter, A. In Proceedings of the SPIE 9784, Medical Imaging 2016: Image Processing. San Diego, CA, USA, 2016.
  • LOCALIZATION CORRECTIONS ...
    LOCALIZATION CORRECTIONS FOR MOBILE LASER SCANNER USING LOCAL SUPPORT-BASED OUTLIER FILTERING. Lehtola, V. V.; Virtanen, J-P.; Rönnholm, P.; Nüchter, A. In Proceedings of the ISPRS Congress 2016, of ISPRS Annals Photogrammetry and Remote Sensing, Spatial Inf. Sci., pp. 81–88. Prague, Czech Republic, 2016.
  • Performance comparison be...
    Performance comparison between state-of-the-art point-cloud based collision detection approaches on the CPU and GPU. Schauer, J.; Bedkowski, J.; Majek, K.; Nüchter, A. In Proceedings of the 4th IFAC Symposium on Telematics Applications (TA ’16), Vol. 49, pp. 54–59. Porto Alegre, Brazil, 2016.
  • Range Sensors
    Range Sensors. Konolige, K.; Nüchter, A. In Handbook of Robotics, second , B. Siciliano, O. Khatib (eds.), pp. 783–810. Springer, 2016.
  • Effiziente Speicherung großer Punktwolken -- Datenstrukturen für Algorithmen für mobile und terrestrische Laserscansysteme. Nüchter, A. In Terrestrisches Laserscanning (TLS 2016) Beiträge zum 154. DVW-Seminar am 28. und 29. November in Fulda, pp. 105–120. Fulda, Germany, 2016.
  • Spatial Projection of The...
    Spatial Projection of Thermal Data for Visual Inspection. Leutert, F.; Borrmann, D.; Schilling, K.; Nüchter, A. In Proceedings of the 14th IEEE International Conference on Control, Automation, Robotics and Vision (ICARCV ’16), pp. 1–6. Phuket, Thailand, 2016.
2015[ to top ]
  • CASTLE3D -- A Computer Ai...
    CASTLE3D -- A Computer Aided System for Labelling Archaeological Excavations in 3D. Houshiar, H.; Borrmann, D.; Elseberg, J.; Nüchter, A.; Winkler, S.; Näth, F. In Proceedings of the XXV International CIPA Symposium, of ISPRS Annals Photogrammetry and Remote Sensing, Spatial Inf. Sci., II-3/W1, pp. 111–118. Taipei, Taiwan, 2015.
  • Evaluation of a Backpack-...
    Evaluation of a Backpack-Mounted 3D Mobile Scanning System. Lauterbach, H. A.; Borrmann, D.; Hess, R.; Eck, D.; Schilling, K.; Nüchter, A. In Remote Sensing, 7(10), pp. 13753–13781. 2015.
  • Collision detection betwe...
    Collision detection between point clouds using an efficient $k$-d tree implementation. Schauer, J.; Nüchter, A. In Journal Advanced Engineering Informatics (JAdvEI), 29(3), pp. 440–458. 2015.
  • Libra3D: Body Weight Esti...
    Libra3D: Body Weight Estimation for Emergency Patients in Clinical Environment with a 3D Structured Light Sensor. Pfitzner, C.; May, S.; Merkl, C.; Breuer, L.; Köhrmann, M.; Braun, J.; Dirauf, F.; Nüchter, A. In Proceedings of the IEEE International Conference Robotics and Automation (ICRA ’15). Seattle, WA, USA, 2015.