Publications

@inproceedings{Valentin-Basement-BrickSizes-Oceans23,

title = {Dating Wall Constructions from Brick Sizes in the Flooded Basement of a WW-II Submarine Bunker for the Digitization of Cultural Heritage},

author = {Andreas Birk and Frederike Buda and Tim Hansen},

year  = {2023},

date = {2023-01-01},

booktitle = {MTS/IEEE OCEANS},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{FS2D-MSSregistration-ICRA23,

title = {Using Registration with Fourier-SOFT in 2D (FS2D) for Robust Scan Matching of Sonar Range Data},

author = {Tim Hansen and Andreas Birk},

year  = {2023},

date = {2023-01-01},

booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Valentin-BasementMapping-Oceans23,

title = {Underwater Exploration with Sonar of the Flooded Basement of a WW-II Submarine Bunker in the Context of Digitization of Cultural Heritage},

author = {Tim Hansen and Frederike Buda and Andreas Birk},

year  = {2023},

date = {2023-01-01},

booktitle = {MTS/IEEE OCEANS},

pages = {1-5},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Edu-RoboticsCourseOnline-DoOnlyStrongStudentsProfit-RiE21,

title = {Improved Students’ Performance in an Online Robotics Class During COVID-19: Do only Strong Students Profit?},

author = {Andreas Birk and Evelina Dineva},

editor = {Munir Merdan and Wilfried Lepuschitz and Gottfried Koppensteiner and Richard Balogh and David Obdrzalek},

isbn = {978-3-030-82544-7},

year  = {2021},

date = {2021-01-01},

booktitle = {Robotics in Education (RiE), Advances in Intelligent Systems and Computing},

volume = {1359},

pages = {134-145},

publisher = {Springer International Publishing},

abstract = {Observations from the online teaching of a robotics class during the CoViD-19 pandemic caused by SARS-CoV-2 also known as the Corona virus are presented. The online teaching of the course lead to an unexpected increase in the grade performance of the students – despite the fact that the exams were at the same level of difficulty as in the years before. There is some evidence that the asynchronous online teaching catered for some of the general interests and learning trends in generation-Z students. This paper addresses the question whether the general study performance of a student is a possible factor in whether the student profited more or less from the online version, i.e., whether there is a correlation between the improved course grade with the Grade Performance Average (GPA) of students.},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Edu-RIS-Corona-RiE21,

title = {Robotics and Intelligent Systems: a new curriculum development and adaptations needed in Coronavirus times},

author = {Francesco Maurelli and Evelina Dineva and Andreas Nabor and Andreas Birk},

editor = {Munir Merdan and Wilfried Lepuschitz and Gottfried Koppensteiner and Richard Balogh and David Obdrzalek},

isbn = {978-3-030-82544-7},

year  = {2021},

date = {2021-01-01},

booktitle = {Robotics in Education (RiE), Advances in Intelligent Systems and Computing},

volume = {1359},

pages = {134-145},

publisher = {Springer International Publishing},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Valentin3D-FMS-DivideNConquer-ICRA20,

title = {A Divide and Conquer Method for 3D Registration of Inhomogeneous, Partially Overlapping Scans with Fourier Mellin SOFT (FMS)},

author = {Heiko Bülow and Christian Atanas Mueller and Frederike Buda and Arturo Gomez Chavez and Andreas Birk},

year  = {2020},

date = {2020-01-01},

booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{DexROV-ORBfeatures-Navigation-IROS19,

title = {Adaptive Navigation Scheme for Optimal Deep-Sea Localization Using Multimodal Perception Cues},

author = {Arturo Gomez Chavez and Qingwen Xu and Christian Atanas Mueller and Sören Schwertfeger and Andreas Birk},

year  = {2019},

date = {2019-01-01},

booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{DexROV-PerceptionLocalization-Qingwen-AAMAS19,

title = {Towards Accurate Deep-Sea Localization in Structured Environments based on Perception Quality Cues},

author = {Arturo Gomez Chavez and Qingwen Xu and Christian A. Mueller and Soren Schwertfeger and Andreas Birk},

year  = {2019},

date = {2019-01-01},

booktitle = {Proceedings of the 18th International Conference on Autonomous Agents and MultiAgent Systems (AAMAS)},

pages = {1988-1990},

publisher = {International Foundation for Autonomous Agents and Multiagent Systems},

address = {3331986},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{iFMI-OmniCamera-ICIP19,

title = {Improved Fourier Mellin Invariant for Robust Rotation Estimation with Omni-Cameras},

author = {Qingwen Xu and Arturo Gomez Chavez and Heiko Bulow and Andreas Birk and Sören Schwertfeger},

doi = {10.1109/icip.2019.8802933},

year  = {2019},

date = {2019-01-01},

booktitle = {IEEE International Conference on Image Processing (ICIP)},

pages = {320-324},

abstract = {Spectral methods such as the improved Fourier Mellin Invariant (iFMI) transform have proved to be faster, more robust and accurate than feature based methods on image registration. However, iFMI is restricted to work only when the camera moves in 2D space and has not been applied on omni-cameras images so far. In this work, we extend the iFMI method and apply a motion model to estimate an omni-camera’s pose when it moves in 3D space. In the experiment section, we compare the extended iFMI method against ORB and AKAZE feature based approaches on three datasets, showing different types of environments: office, lawn and urban scenery (MPI-omni dataset). The results show that our method reduces the error of the camera pose estimation two to three times with respect to the feature registration techniques, while offering lower processing times.},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{DexROV-PerceptionSimulation-CAMS18,

title = {High-Fidelity Deep-Sea Perception Using Simulation in the Loop},

author = {Tobias Doernbach and Arturo Gomez Chavez and Christian A. Mueller and Andreas Birk},

year  = {2018},

date = {2018-01-01},

booktitle = {IFAC Conference on Control Applications in Marine Systems (CAMS)},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{ObjectCompositionsPersistentHomology-IROS18,

title = {Conceptualization of Object Compositions Using Persistent Homology},

author = {Christian Atanas Mueller and Andreas Birk},

year  = {2018},

date = {2018-01-01},

booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{DexROV-SimulationInTheLoop-IROS18,

title = {Robust Continuous System Integration for Critical Deep-Sea Robot Operations Using Knowledge-Enabled Simulation in the Loop},

author = {Christian Atanas Mueller and Tobias Doernbach and Arturo Gomez Chavez and Daniel Köhntopp and Andreas Birk},

year  = {2018},

date = {2018-01-01},

booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},

publisher = {IEEE},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{SSRR17-BridgeInspection-VibrationSmartphones,

title = {Robotic bridge statics assessment within strategic flood evacuation planning using low-cost sensors},

author = {Maik Benndorf and Thomas Haenselmann and Maximilian Garsch and Norbert Gebbeken and Christian A. Mueller and Tobias Fromm and Tomasz Luczynski and Andreas Birk},

year  = {2017},

date = {2017-01-01},

booktitle = {IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR)},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{CADDY-DiverPoseEstimation-OceansAberdeen17,

title = {Stereo-vision based diver pose estimation using LSTM recurrent neural networks for AUV navigation guidance},

author = {Arturo Gomez Chavez and Christian A. Mueller and Andreas Birk and Anja Babic and Nikola Miskovic},

year  = {2017},

date = {2017-01-01},

booktitle = {IEEE Oceans},

publisher = {IEEE press},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{DexROV-simulator-OceansAberdeen17,

title = {Efficient Continuous System Integration and Validation for Deep-Sea Robotics Applications},

author = {Tobias Fromm and Christian A. Mueller and Max Pfingsthorn and Andreas Birk and Paolo Di Lillo},

year  = {2017},

date = {2017-01-01},

booktitle = {IEEE Oceans},

publisher = {IEEE press},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{SeafloorClassification-ATLAS-Demining-OceansAberdeen17,

title = {Seafloor Classification for Mine Counter Measure Operations using Synthetic Aperture Sonar Image},

author = {Daniel Koehntopp and Benjamin Lehmann and Dieter Kraus and Andreas Birk},

year  = {2017},

date = {2017-01-01},

booktitle = {IEEE Oceans},

publisher = {IEEE press},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{HazeRemoval-DarkChanelPrior-OceansAnchorage17,

title = {Underwater Image Haze Removal with an Underwater-ready Dark Channel Prior},

author = {Tomasz Luczynski and Andreas Birk},

year  = {2017},

date = {2017-01-01},

booktitle = {IEEE Oceans},

publisher = {IEEE press},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{DexROV-OctomapTransmission-OceansAnchorage17,

title = {3D Grid Map Transmission for Underwater Mapping and Visualization under Bandwidth Constraints},

author = {Tomasz Luczynski and Tobias Fromm and Shashank Govindaraj and Christian A. Mueller and Andreas Birk},

year  = {2017},

date = {2017-01-01},

booktitle = {IEEE Oceans},

publisher = {IEEE press},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{PinaxVergedStereo-OceansAnchorage17,

title = {Image Rectification with the Pinax Camera Model in Underwater Stereo Systems with Verged Cameras},

author = {Tomasz Luczynski and Max Pfingsthorn and Andreas Birk},

year  = {2017},

date = {2017-01-01},

booktitle = {IEEE Oceans},

publisher = {IEEE press},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{CADDY-Year3-Oceans17,

title = {CADDY project, year 3: The final validation trials},

author = {N. Miskovic and A. Pascoal and M. Bibuli and M. Caccia and J. A. Neasham and A. Birk and M. Egi and K. Grammer and A. Marroni and A. Vasilijevic and D. Nad and Z. Vukic},

doi = {10.1109/OCEANSE.2017.8084715},

year  = {2017},

date = {2017-01-01},

booktitle = {OCEANS},

pages = {1-5},

publisher = {IEEE},

abstract = {This paper described the basic concept behind the second and final validation trials of the Cognitive Autonomous Diving Buddy (CADDY) system. The CADDY system is composed of three components: autonomous surface vehicle (ASV), an autonomous underwater vehicle (AUV) named BUDDY, and a diver. CADDY aims to establish an innovative setup between a diver and companion autonomous robots (underwater and surface) that exhibit cognitive behaviour by adapting to diver's physical state, and actions, thereby improving overall diving experience by assisting the diver. Although certain problems were encountered during trials, the collected data and experience were valuable to identify potential improvements. Most importantly, divers felt safe and comfortable working and interacting with a robotic BUDDY thus achieving the primary goal.},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{FloodEvac-BridgeInspectionFirstResults-OceansAberdeen17,

title = {Robotic Bridge Inspection Within Strategic Flood Evacuation Planning},

author = {Christian A. Mueller and Tobias Fromm and Heiko Buelow and Andreas Birk and Maximilian Garsch and Norbert Gebbeken},

year  = {2017},

date = {2017-01-01},

booktitle = {IEEE Oceans},

publisher = {IEEE press},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{UnderwaterAutomatedSpeciesCounting-Oceans16,

title = {Automated Species Counting using a Hierarchical Classification Approach with Haar Cascades and Multi-Descriptor Random Forests},

author = {Arturo Gomez Chavez and Jorge Fontes and Pedro Afonso and Max Pfingsthorn and Andreas Birk},

year  = {2016},

date = {2016-01-01},

booktitle = {IEEE Oceans},

abstract = {We present a classification framework to detect underwater terrain deformations commonly caused by marine species in real time during AUV surveys. The method uses two classifiers in a hierarchical manner to overcome the fact that there are no substantial datasets in the literature about underwater terrain and the creation of one would involve a great consumption of human and technological resources. The first classifier based on Haar cascades, scans the image from an AUV stereo camera and detects all possible candidates of interest. Then, a Multi-Descriptor Random Forest is used to classify these candidates according to which species is more likely to have caused the associated terrain deformation. This classifier is able to integrate multiple descriptors to ensure the robustness of the system despite the vast amount of image distortions that happen underwater. The performance of the method is shown during a multiple AUV survey mission, where the Camera Vehicles follow the underwater ground up close. A comparison of the framework’s output with the one from marine biologists exemplifies the accuracy of the system and its usefulness while supporting activities such as marine population monitoring to preserve nursery areas.},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{UnderwaterSpeedAdaptation-ViewPlanning-Oceans16,

title = {Visual Speed Adaptation for Improved Sensor Coverage in a Multi-Vehicle Survey Mission},

author = {Arturo Gomez Chavez and Max Pfingsthorn and Ravi Rathnam and Andreas Birk},

year  = {2016},

date = {2016-01-01},

booktitle = {IEEE Oceans},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{AnticipationManipulation-IROS16,

title = {Physics-Based Damage-Aware Manipulation Strategy Planning Using Scene Dynamics Anticipation},

author = {Tobias Fromm and Andreas Birk},

year  = {2016},

date = {2016-01-01},

booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},

publisher = {IEEE Press},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{DexROV-CAMS16,

title = {Dexterous Undersea Interventions with Far Distance Onshore Supervision: the DexROV Project},

author = {Jeremi Gancet and Peter Weiss and Gianluca Antonelli and Max Folkert Pfingsthorn and Sylvain Calinon and Alessio Turetta and Cees Walen and Diego Urbina and Shashank Govindaraj and Christian Atanas Müller and Xavier Martinez and Tobias Fromm and Bertrand Chemisky and Giovanni Indiveri and Giuseppe Casalino and Paolo Augusto Di Lillo and Enrico Simetti and Daniela De Palma and Andreas Birk and Ajay Tanwani and Ioannis Havoutis and Andrea Caffaz and Lisa Guilpain and Pierre Letier},

year  = {2016},

date = {2016-01-01},

booktitle = {10th IFAC Conference on Control Applications in Marine Systems (CAMS)},

publisher = {International Federation of Automatic Control},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}