TY  - CHAP
A1  - Eichenbaum, Julian
A1  - Nikolovski, Gjorgji
A1  - Mülhens, Leon
A1  - Reke, Michael
A1  - Ferrein, Alexander
A1  - Scholl, Ingrid
T1  - Towards a lifelong mapping approach using Lanelet 2 for autonomous open-pit mine operations
T2  - 2023 IEEE 19th International Conference on Automation Science and Engineering (CASE)
N2  - Autonomous agents require rich environment models for fulfilling their missions. High-definition maps are a well-established map format which allows for representing semantic information besides the usual geometric information of the environment. These are, for instance, road shapes, road markings, traffic signs or barriers. The geometric resolution of HD maps can be as precise as of centimetre level. In this paper, we report on our approach of using HD maps as a map representation for autonomous load-haul-dump vehicles in open-pit mining operations. As the mine undergoes constant change, we also need to constantly update the map. Therefore, we follow a lifelong mapping approach for updating the HD maps based on camera-based object detection and GPS data. We show our mapping algorithm based on the Lanelet 2 map format and show our integration with the navigation stack of the Robot Operating System. We present experimental results on our lifelong mapping approach from a real open-pit mine.
Y1  - 2023
SN  - 979-8-3503-2069-5 (Online)
SN  - 979-8-3503-2070-1 (Print)
U6  - http://dx.doi.org/10.1109/CASE56687.2023.10260526
N1  - 19th International Conference on Automation Science and Engineering (CASE), 26-30 August 2023, Auckland, New Zealand.
PB  - IEEE
ER  - 
TY  - CHAP
A1  - Alhwarin, Faraj
A1  - Ferrein, Alexander
A1  - Scholl, Ingrid
T1  - An Efficient Hashing Algorithm for NN Problem in HD Spaces
T2  - Lecture Notes in Computer Science
Y1  - 2019
SN  - 978-303005498-4
U6  - http://dx.doi.org/10.1007/978-3-030-05499-1_6
N1  - 7th International Conference on Pattern Recognition Applications and Methods, ICPRAM 2018; Funchal; Portugal; 16 January 2018 through 18 January 2018; Code 222779
SP  - 101
EP  - 115
ER  - 
TY  - CHAP
A1  - Scholl, Ingrid
A1  - Bartella, Alex
A1  - Moluluo, Cem
A1  - Ertural, Berat
A1  - Laing, Frederic
A1  - Suder, Sebastian
T1  - MedicVR : Acceleration and Enhancement Techniques for Direct Volume Rendering in Virtual Reality
T2  - Bildverarbeitung für die Medizin 2019 : Algorithmen – Systeme – Anwendungen
Y1  - 2019
SN  - 978-3-658-25326-4
U6  - http://dx.doi.org/10.1007/978-3-658-25326-4_32
SP  - 152
EP  - 157
PB  - Springer Vieweg
CY  - Wiesbaden
ER  - 
TY  - CHAP
A1  - Ferrein, Alexander
A1  - Scholl, Ingrid
A1  - Neumann, Tobias
A1  - Krückel, Kai
A1  - Schiffer, Stefan
T1  - A system for continuous underground site mapping and exploration
Y1  - 2019
U6  - http://dx.doi.org/10.5772/intechopen.85859
ER  - 
TY  - CHAP
A1  - Alhwarin, Faraj
A1  - Schiffer, Stefan
A1  - Ferrein, Alexander
A1  - Scholl, Ingrid
T1  - An Optimized Method for 3D Body Scanning Applications Based on KinectFusion
T2  - Communications in Computer and Information Science
Y1  - 2019
U6  - http://dx.doi.org/10.1007/978-3-030-29196-9_6
SN  - 1865-0929
N1  - 11th International Joint Conference on Biomedical Engineering Systems and Technologies, BIOSTEC 2018; Funchal; Portugal; 19 January 2018 through 21 January 2018
VL  - 1024
SP  - 100
EP  - 113
PB  - Springer
ER  - 
TY  - CHAP
A1  - Scholl, Ingrid
A1  - Suder, Sebastian
A1  - Schiffer, Stefan
T1  - Direct Volume Rendering in Virtual Reality
T2  - Bildverarbeitung für die Medizin 2018
Y1  - 2018
SN  - 978-3-662-56537-7
U6  - http://dx.doi.org/10.1007/978-3-662-56537-7_79
SP  - 297
EP  - 302
PB  - Springer Vieweg
CY  - Berlin
ER  - 
TY  - CHAP
A1  - Alhwarin, Faraj
A1  - Ferrein, Alexander
A1  - Scholl, Ingrid
T1  - CRVM: Circular Random Variable-based Matcher - A Novel Hashing Method for Fast NN Search in High-dimensional Spaces
T2  - Proceedings of the 7th International Conference on Pattern Recognition Applications and Methods, ICPRAM 2018
Y1  - 2018
SN  - 978-989-758-276-9
U6  - http://dx.doi.org/10.5220/0006692802140221
SP  - 214
EP  - 221
ER  - 
TY  - CHAP
A1  - Alhwarin, Faraj
A1  - Schiffer, Stefan
A1  - Ferrein, Alexander
A1  - Scholl, Ingrid
T1  - Optimized KinectFusion Algorithm for 3D Scanning Applications
T2  - Proceedings of the 11th International Joint Conference on Biomedical Engineering Systems and Technologies - Volume 2: BIOIMAGING
Y1  - 2018
SN  - 978-989-758-278-3
U6  - http://dx.doi.org/10.5220/0006594700500057
SP  - 50
EP  - 57
ER  - 
TY  - CHAP
A1  - Krückel, Kai
A1  - Nolden, Florian
A1  - Ferrein, Alexander
A1  - Scholl, Ingrid
T1  - Intuitive visual teleoperation for UGVs using free-look augmented reality displays
T2  - 2015 IEEE International Conference on Robotics and Automation (ICRA), Seattle, WA
Y1  - 2015
U6  - http://dx.doi.org/10.1109/ICRA.2015.7139809
SP  - 4412
EP  - 4417
ER  - 
TY  - CHAP
A1  - Ferrein, Alexander
A1  - Kallweit, Stephan
A1  - Scholl, Ingrid
A1  - Reichert, Walter
T1  - Learning to Program Mobile Robots in the ROS Summer School Series
T2  - Proceedings 6th International Conference on Robotics in Education (RiE 15)
N2  - The main objective of our ROS Summer School series is to introduce MA level students to program mobile robots with the Robot Operating System (ROS). ROS is a robot middleware that is used my many research institutions world-wide. Therefore, many state-of-the-art algorithms of mobile robotics are available in ROS and can be deployed very easily. As a basic robot platform we deploy a 1/10 RC cart that is wquipped with an Arduino micro-controller to control the servo motors, and an embedded PC that runs ROS. In two weeks, participants get to learn the basics of mobile robotics hands-on. We describe our teaching concepts and our curriculum and report on the learning success of our students.
Y1  - 2015
ER  -