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Dr.-Ing. Dipl.-Inf. Niko Sünderhauf

suenderhauf.jpg Dr.-Ing. Dipl.-Inf. Niko Sünderhauf
Mail: niko.suenderhauf@etit.tu-chemnitz.de
Telefon: 0371 / 531-35596
Fax: 0371 / 531-835596
Sitz: Reichenhainer Str. 31-33, Raum 104
Find me online: Google Scholar and LinkedIn

News

  • May 2013 / ICRA I will be at ICRA and present my paper on a comparison of three robust SLAM methods during the interactive session on Thursday 14:00-15:30. I also present another paper that evaluates OpenSeqSLAM and describes a new 3000 km all-season dataset during the workshop on long-term autonomy. You can also meet me at the Workshop on Robust and Multimodal Inference in Factor Graphs that I organize together with John Leonard and Edwin Olson on Friday. See you in Karlsruhe!
  • April 2013 OpenSeqSLAM, my open source Matlab implementation of Michael Milford's SeqSLAM algorithm is now available at openslam.org.
  • March 2013 Our paper for the Intelligent Vehicles Symposium in June has been accepted. We combined the Switchable Constraints with iSAM2 to perform online mitigation of NLOS and multipath effects in urban GPS-based positioning.
  • March 2013 I'll give a talk at the ASTRA symposium organized by the European Space Agency ESA in Noordwijk, Netherlands.
  • February 2013 My thesis has been selected as one of the 9 best (out of 37 candidates) in 2012 by a jury of the European Robotics Network EURON.

Research Interests

My research interests are within the fields of mobile robotics and computer vision. During my PhD thesis (defended in April 2012) I focused on robust graph-based models for probabilistic estimation. More recently, place recognition and environmental perception under changing environments has attracted my attention. In 2013 I also lead our SpaceBot Cup project.

Within the field of mobile robotics, probabilistic techniques for sensor and data fusion and the problem of simultaneous localization and mapping (SLAM) have been fascinating me for a long time. Related questions of visual perception (using monocular, stereo, or RGB-D cameras), such as structure from motion, place recognition or object recognition interest me as well. More recently, the topic of multipath mitigation and how to improve the localization accuracy for satellite-based navigation systems (such as GPS) have drawn my attention.

Besides all these Bayesian, algebraically well-defined techniques to do things, I find biologically inspired approaches for SLAM and perception extremely appealing.

Software

Vertigo: Versatile Extensions for Robust Inference using Graphical Models

Vertigo provides a C++ implementation of the switchable constraints approach I developed during my thesis. It is an extension library for g2o and gtsam 2.0 and enables g2o or gtsam to solve pose graph SLAM problems in 2D and 3D despite a large number of false positive loop closure constraints. In addition, a re-implementation of the max-mixture model described in (Olson and Agrawal, 2012) for g2o and gtsam is also contained.

Furthermore, Vertigo contains a number of standard pose graph SLAM datasets and a script to spoil them with false positive loop closure constraints. These datasets have been used in our evaluations. They can serve as a set of benchmark datasets for future developments in robust pose graph SLAM.

Download: Vertigo is available at openslam.org. You can use SVN to check it out: svn co https://svn.openslam.org/data/svn/vertigo

OpenSeqSLAM

OpenSeqSLAM is an open source Matlab implementation of SeqSLAM. SeqSLAM has been originally published by Michael Milford and Gordon Wyeth at ICRA 2012. Read their original paper here. Further information can be found in our own workshop paper for the ICRA workshop on long-term autonomy.

Download: OpenSeqSLAM is available at openslam.org. You can use SVN to check it out: svn co https://svn.openslam.org/data/svn/openseqslam

Reviews and Community Services

Together with John Leonard (MIT CSAIL) and Edwin Olson (University of Michigan) I organized the 1st Workshop on Robust and Multimodal Inference in Factor Graphs at ICRA 2013.

I served as a reviewer for the following conferences and journal:
  • International Journal of Robotics Research (IJRR) 2012
  • IEEE International Conference on International Conference on Intelligent Robots and Systems (IROS) 2013
  • IEEE Intelligent Vehicles Symposium 2012
  • IEEE International Conference on Robotics and Automation (ICRA) 2012, 2013

Publications

This list is up to date. You can also find me at Google Scholar.

2013

Sünderhauf, N., Neubert, P., Protzel, P. (2013). Predicting the Change - A Step Towards Life-Long Operation in Everyday Environments. Proc. of Robotics: Science and Systems (RSS) Robotics Challenges and Vision Workshop, Berlin, Germany.

Sünderhauf, N., Obst, M., Lange, S., Wanielik, G., Protzel, P. (2013). Switchable Constraints and Incremental Smoothing for Online Mitigation of Non-Line-of-Sight and Multipath Effects. Proc. of IEEE Intelligent Vehicles Symposium (IV), Gold Coast, Australia

Sünderhauf, N., Lange, S., Protzel, P. (2013). Incremental Sensor Fusion in Factor Graphs with Unknown Delays. Proc. of ESA Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA), Noordwijk, the Netherlands .

Sünderhauf, N., Protzel, P. (2013). Switchable Constraints vs. Max-Mixture Models vs. RRR - A Comparison of Three Approaches to Robust Pose Graph SLAM. Proc. of IEEE International Conference on Robotics and Automation (ICRA), Karlsruhe, Germany.

Sünderhauf, N., Neubert, P., Protzel, P. (2013). Are We There Yet? Challenging SeqSLAM on a 3000 km Journey Across All Four Seasons. Proc. of Workshop on Long-Term Autonomy, IEEE International Conference on Robotics and Automation (ICRA), Karlsruhe, Germany.

Lange, S., Sünderhauf, N., Protzel, P. (2013). Incremental Smoothing vs. Filtering for Sensor Fusion on an Indoor UAV. Proc. of IEEE International Conference on Robotics and Automation (ICRA), Karlsruhe, Germany.

2012

Sünderhauf, N., Protzel, P. (2012). Switchable Constraints for Robust Pose Graph SLAM. Proc. of IEEE International Conference on Intelligent Robots and Systems (IROS), Vilamoura, Portugal.

Sünderhauf, N., Protzel, P. (2012). A Generic Approach for Robust Probabilistic Estimation with Graphical Models. Proc. of RSS Workshop on Long-term Operation of Autonomous Robotic Systems in Changing Environments, Sydney, Australia.

Sünderhauf, N., Obst, M., Wanielik, G., Protzel, P. (2012). Multipath Mitigation in GNSS-Based Localization using Robust Optimization. Proc. of IEEE Intelligent Vehicles Symposium (IV), Madrid, Spain.

Sünderhauf, N., Protzel, P. (2012). Towards a Robust Back-End for Pose Graph SLAM. Proc. of IEEE International Conference on Robotics and Automation (ICRA), St. Paul, USA.

Sünderhauf, N. (2012). Robust Optimization for Simultaneous Localization and Mapping. PhD Thesis, Chemnitz University of Technology.

Sünderhauf, N., Protzel, P. (2012). Towards Robust Graphical Models for GNSS-Based Localization in Urban Environments. Proc. of the IEEE Intl. Multi-Conference on Systems, Signals and Devices, SSD12, Chemnitz, Germany.

Neubert, P., Sünderhauf, N., Protzel, P. (2012). From Saliency Based Image Features Towards Semantic Mapping. Proc. of 7th German Conference on Robotics, München, Germany.

2011

Sünderhauf, N., Protzel, P. (2011). BRIEF-Gist -- Closing the Loop by Simple Means. Proc. of IEEE International Conference on Intelligent Robots and Systems (IROS), San Francisco, USA.

Lange, S., Sünderhauf, N., Neubert, P., Drews, S., Protzel, P. (2011). Autonomous Corridor Flight of a UAV Using a Low-Cost and Light-Weight RGB-D Camera. Proc. of International Symposium on Autonomous Minirobots for Research and Edutainment (AMiRE), Bielefeld, Germany.

2010

Sünderhauf, N., Neubert, P., Protzel, P. (2010). The Causal Update Filter - A Novel Biologically Inspired Filter Paradigm for Appearance Based SLAM. Proc. of IEEE International Conference on Intelligent Robots and Systems (IROS), Taipeh, Taiwan.

Sünderhauf, N., Protzel, P. (2010). From Neurons to Robots: Towards Efficient Biologically Inspired Filtering and SLAM. KI 2010: Advances in Artificial Intelligence, Lecture Notes in Computer Science, 6359:341-348, Springer Verlag.

Sünderhauf, N., Protzel, P. (2010). Beyond RatSLAM: Improvements to a Biologically Inspired SLAM System. Proc. of IEEE International Conference on Emerging Technologies and Factory Automation (ETFA), Bilbao, Spain, ISBN 978-1-4244-6848-5.

Sünderhauf, N., Protzel, P. (2010). Learning from Nature: Biologically Inspired Robot Navigation and SLAM - A Review. Künstliche Intelligenz, Special Issue on SLAM, Springer Verlag.

2009

Lange, S., Sünderhauf, N., Protzel, P. (2009). A Vision Based Onboard Approach for Landing and Position Control of an Autonomous Multirotor UAV in GPS-Denied Environments. Proc. of Int. Conf. on Advanced Robotics 2009, Munich, Germany.

Sünderhauf, N., Protzel, P. (2009). Using Image Profiles and Integral Images for Efficient Calculation of Sparse Optical Flow Fields. Proc. of Int. Conf. on Advanced Robotics 2009, Munich, Germany.

2008

Lange, S., Sünderhauf, N., Protzel, P. (2008). Autonomous Landing for a Multirotor UAV Using Vision. Workshop Proc. of SIMPAR 2008 Intl. Conf. on Simulation, Modeling and Programming for Autonomous Robots, Venice(Italy), 2008, November, 3-4 ISBN 978-88-95872-01-8 pp. 482-491.

2007

Sünderhauf, N., Lange, S., Protzel, P. (2007). Using the Unscented Kalman Filter for Mono-SLAM with Inverse Depth Parametrization for Autonomous Airship Control. Proc. of IEEE International Workshop on Safety Security and Rescue Robotics, SSRR 2007, Rome, Italy.

Neubert, P., Sünderhauf, N., Protzel, P. (2007). FastSLAM using SURF Features: An Efficient Implementation and Practical Experiences. Proc. of the International Conference on Intelligent and Autonomous Systems, IAV, Toulouse, Frankreich.

Sünderhauf, N., Protzel, P. (2007). Stereo Odometry - A Review of Approaches. Technical Report 3/07

Bauer, J., Sünderhauf, N., Protzel, P. (2007). Comparing Several Implementations of Recently Published Feature Detectors. Proc. of the International Conference on Intelligent and Autonomous Systems, IAV, Toulouse, Frankreich.

2006

Krüger, D., van Lil, I., Sünderhauf, N., Baumgartl R., Protzel, P. (2006). Using and Extending the Miro Middleware for Autonomous Mobile Robots. Proc. of Towards Autonomous Robotic Systems TAROS06, Guildford, UK, pp. 90-95.

Sünderhauf N., Protzel P. (2006) Towards Using Bundle Adjustment for Robust Stereo Odometry in Outdoor Terrain. Proc. of Towards Autonomous Robotic Systems TAROS06, Guildford, UK, pp. 206-213.

Sünderhauf, N., Krause, T., & Protzel, P. (2006). Bringing Robotics Closer to Students - A Threefold Approach. Proc. of IEEE International Conference on Robotics and Automation ICRA06, Orlando, USA, pp. 339-344.

2005

Sünderhauf, N., Konolige, K., Lacroix, S. & Protzel, P. (2005). Visual Odometry using Sparse Bundle Adjustment on an Autonomous Outdoor Vehicle. In Levi, Schanz, Lafrenz, Avrutin (Hrsg.), Tagungsband Autonome Mobile Systeme 2005, Reihe Informatik aktuell, Springer Verlag, S. 157-163.

Sünderhauf, N., Krause, T. & Protzel, P. (2005). RoboKing - Bringing Robotics closer to Pupils. Proc. of IEEE International Conference on Robotics and Automation ICRA05, Barcelona, Spain, pp. 4265-4270.

Sünderhauf, N., Konolige, K., Lemaire, T. & Lacroix, S. (2005). Comparison of Stereovision Odometry Approaches. IEEE International Conference on Robotics and Automation ICRA05 Barcelona, Planetary Rover Workshop.

Attended Conferences and Workshops

Conference or Workshop Date Place
RSS June 2013 Berlin
ESA ASTRA May 2013 Noordwijk
ICRA May 2013 Karlsruhe
IROS October 2012 Vilamoura
RSS July 2012 Sydney
Intelligent Vehicles Symposium June 2012 Madrid
ICRA May 2012 St. Paul
IROS September 2011 San Francisco
euRobotics Forum April 2011 Västerås
IROS October 2010 Taipeh
KI September 2010 Karlsruhe
ETFA September 2010 Bilbao
ICAR June 2009 München
SIMPAR November 2008 Venice
SSRR & RRC September 2007 Rom
IAV September 2007 Toulouse
BIT Tutorial "Robot Middleware and Integration Frameworks" Dezember 2005 Bonn
AMS November 2005 Stuttgart
EURON Summer School Sensor Fusion and Perception September 2005 Ancona
ICRA April 2005 Barcelona
2nd SLAM Summer School August 2004 Toulouse
IAV July 2004 Lissabon
DARS June 2004 Toulouse
AMS November 2003 Karlsruhe