Sören Schwertfeger

収録論文 52本 ・ フィジカルAI/ロボット学習

※arXiv著者名で収集。同姓同名の別人の論文が含まれる場合があります。

論文

• 円筒空洞のロボット点検のための観測制約付き関節空間視点最適化
  視点計画2026/8/17

  円筒空洞の底部を観測するためのロボットカメラ視点を、可視性・運動学・衝突制約を満たしつつ関節空間で最適化する完全自律手法を提案した。

• 車輪脚ロボットの複雑地形におけるロボット身体認識トラバーサルリスクグラフ計画
  ナビゲーション/計画2026/8/17

  車輪脚ロボットの複雑地形ナビゲーションのため、ロボットの向きと車体形状を考慮したリスクグラフ計画手法を提案し、シミュレーションと実機で成功率を向上させた。

• HaltNav: Reactive Visual Halting over Lightweight Topological Priors for Robust Vision-Language Navigation
  2026/3/1
• osmAG-Nav: A Hierarchical Semantic Topometric Navigation Stack for Robust Lifelong Indoor Autonomy
  2026/3/1
• Learning Soccer Skills for Humanoid Robots: A Progressive Perception-Action Framework
  2026/2/1
• Differential Barometric Altimetry for Submeter Vertical Localization and Floor Recognition Indoors
  2026/1/1
• From Observation to Action: Latent Action-based Primitive Segmentation for VLA Pre-training in Industrial Settings
  2025/11/1
• WiFi-based Global Localization in Large-Scale Environments Leveraging Structural Priors from osmAG
  2025/8/1
• Generation of Indoor Open Street Maps for Robot Navigation from CAD Files
  2025/7/1
• osmAG-LLM: Zero-Shot Open-Vocabulary Object Navigation via Semantic Maps and Large Language Models Reasoning
  2025/7/1
• Adversarial Locomotion and Motion Imitation for Humanoid Policy Learning
  2025/4/1
• Intelligent LiDAR Navigation: Leveraging External Information and Semantic Maps with LLM as Copilot
  2024/9/1
• High-Quality, ROS Compatible Video Encoding and Decoding for High-Definition Datasets
  2024/8/1
• Collecting Larg-Scale Robotic Datasets on a High-Speed Mobile Platform
  2024/8/1
• Detection and Utilization of Reflections in LiDAR Scans Through Plane Optimization and Plane SLAM
  2024/6/1
• ShanghaiTech Mapping Robot is All You Need: Robot System for Collecting Universal Ground Vehicle Datasets
  2024/6/1
• Benchmarking SLAM Algorithms in the Cloud: The SLAM Hive Benchmarking Suite
  2024/6/1
• 3DRef: 3D Dataset and Benchmark for Reflection Detection in RGB and Lidar Data
  2024/3/1
• Empowering Robot Path Planning with Large Language Models: osmAG Map Topology & Hierarchy Comprehension with LLMs
  2024/3/1
• RealDex: Towards Human-like Grasping for Robotic Dexterous Hand
  2024/2/1
• Robust Lifelong Indoor LiDAR Localization using the Area Graph
  2023/8/1
• Optimizing the extended Fourier Mellin Transformation Algorithm
  2023/7/1
• The SLAM Hive Benchmarking Suite
  2023/3/1
• CP+: Camera Poses Augmentation with Large-scale LiDAR Maps
  2023/2/1
• Cluster on Wheels
  2022/5/1
• Accurate calibration of multi-perspective cameras from a generalization of the hand-eye constraint
  2022/2/1
• Hierarchical Topometric Representation of 3D Robotic Maps
  2021/11/1
• Improved Visual-Inertial Localization for Low-cost Rescue Robots
  2020/11/1
• Advanced Mapping Robot and High-Resolution Dataset
  2020/7/1
• Self-supervised Point Set Local Descriptors for Point Cloud Registration
  2020/3/1
• Non-iterative One-step Solution for Point Set Registration Problem on Pose Estimation without Correspondence
  2020/3/1
• Comparison and Evaluation of 2D and 3D Range Sensors
  2019/12/1
• Evaluation of Smartphone IMUs for Small Mobile Search and Rescue Robots
  2019/12/1
• Room Detection for Topological Maps
  2019/12/1
• Fast 2D Map Matching Based on Area Graphs
  2019/11/1
• Furniture Free Mapping using 3D Lidars
  2019/11/1
• Fine-grained Qualitative Spatial Reasoning about Point Positions
  2019/11/1
• Area Graph: Generation of Topological Maps using the Voronoi Diagram
  2019/10/1
• Pose Estimation for Omni-directional Cameras using Sinusoid Fitting
  2019/10/1
• Path Planning Tolerant to Degraded Locomotion Conditions
  2019/9/1
• Mapping with Reflection -- Detection and Utilization of Reflection in 3D Lidar Scans
  2019/9/1
• Configuration-Space Flipper Planning on 3D Terrain
  2019/9/1
• Improving CNN-based Planar Object Detection with Geometric Prior Knowledge
  2019/9/1
• Adaptive Navigation Scheme for Optimal Deep-Sea Localization Using Multimodal Perception Cues
  2019/6/1
• Towards Generation and Evaluation of Comprehensive Mapping Robot Datasets
  2019/5/1
• Heterogeneous Multi-sensor Calibration based on Graph Optimization
  2019/5/1
• Configuration-Space Flipper Planning for Rescue Robots
  2019/5/1
• Learning Autonomous Exploration and Mapping with Semantic Vision
  2019/1/1
• Fast Gaussian Process Occupancy Maps
  2018/11/1
• Topological Area Graph Generation and its Application to Path Planning
  2018/11/1
• Incrementally Building Topology Graphs via Distance Maps
  2018/11/1
• Improved Fourier Mellin Invariant for Robust Rotation Estimation with Omni-cameras
  2018/11/1