This dissertation is concerned with three-dimensional (3D) sensing and 3D scan
representation. Three-dimensional records are important tools in several, quite diverse …

Registration of range sensor measurements is an important task in mobile robotics and has
received a lot of attention. Several iterative optimization schemes have been proposed in …

Robots that are operating for extended periods of time need to be able to deal with changes
in their environment and represent them adequately in their maps. In this paper, we present …

In order to enable long-term operation of autonomous vehicles in industrial environments
numerous challenges need to be addressed. A basic requirement for many applications is …

We present a novel method for re-creating the static structure of cluttered office
environments-which we define as the “meta-room”-from multiple observations collected by …

Point set registration-the task of finding the best fitting alignment between two sets of point
samples, is an important problem in mobile robotics. This article proposes a novel …

Robotic perception is related to many applications in robotics where sensory data and
artificial intelligence/machine learning (AI/ML) techniques are involved. Examples of such …

Detecting moving objects in dynamic scenes from sequences of lidar scans is an important
task in object tracking, map**, localization, and navigation. Many works focus on changes …

This chapter introduces the foundation for surveillance and security robots for multiple
military and civilian applications. The key environmental domains are mobile robots for …

3D range sensing is one of the important topics in robotics, as it is often a component in vital
autonomous subsystems like collision avoidance, map** and semantic perception. The …