Robotics Innovation Center

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1. Jan Kuhlmann; Thomas Wiemann

   CHAD TSDF - Eine Assoziative und Diskretisierte Datenstruktur für TSDF SLAM

   In: Photogrammetrie, Laserscanning, Optische 3D-Messtechnik. Beiträge der Oldenburger 3D-Tage 2025. Oldenburger 3D-Tage (DOL-2025), Wichmann, 2025.

2. Yannick Szypulski; Thomas Wiemann; Marcel Storch

   . Automatische Bestimmung von Baumdurchmessern mit einem mobilen Mapping System

   In: Photogrammetrie, Laserscanning, Optische 3D-Messtechnik. Beiträge der Oldenburger 3D-Tage 2025. Oldenburger 3D-Tage (DOL-2025), Wichmann, 2025.

3. Alexander Mock; Thomas Wiemann; Sebastian Pütz; Joachim Hertzberg

   MICP-L: Mesh-based ICP for Robot Localization using Hardware-Accelerated Ray Casting

   In: Proceedings of the 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS-2024), October 14-18, Abu Dhabi, United Arab Emirates, IEEE, 10/2024.

4. Lennart Niecksch; Alexander Mock; Felix Igelbrink; Thomas Wiemann; Joachim Hertzberg

   Mesh-based Object Tracking for Dynamic Semantic 3D Scene Graphs via Ray Tracing

   In: Proceedings of the RSS'24 Workshop on Semantics for Robotics. RSS Workshop on Semantics for Robotics, From Environment Understanding and Reasoning to Safe Interaction, July 15, Delft, Netherlands, RSS Foundation, 2024.

5. Simon Pfeil; Marcel Storch; Thomas Wiemann

   Bordsteinerkennung und Höhenbestimmung in 3D LiDAR-Daten mittels eines mobilen Kartierungssystems

   In: Photogrammetrie, Laserscanning, Optische 3D-Messtechnik. Beiträge der Oldenburger 3D-Tage 2024. Oldenburger 3D-Tage (DOL-2024), Wiechmann, 2024.

6. Marc Eisoldt; Alexander Mock; Thomas Wiemann; Mario Porrmann

   Efficient Global 6D Localization in 3D TSDF Maps Using Point-wise and Scan-wise Reduction Methods on Embedded GPUs

   In: International Journal of Semantic Computing (IJSC), Vol. 0, Pages 0-0, World Scientific Publishing, 2024.

7. Sebastian Rahn; Philipp Gehricke; Can-Leon Petermöller; Eric Neumann; Philipp Schlinge; Leon Rabius; Henning Termühlen; Christopher Sieh; Marco Tassemeier; Thomas Wiemann; Mario Porrmann

   ReDroSe — Reconfigurable Drone Setup for Resource-efficient SLAM

   In: Proceedings of th 2023 Workshop on Drone Systems Engineering. Drone Systems Engineering (DroneSE-2023), January 17-18, Tolouse, France, ACM Digital LIbrary, 2023.

8. Alexander Mock; Thomas Wiemann; Joachim Hertzberg

   Rmagine: 3D Range Sensor Simulation in Polygonal Maps via Raytracing for Embedded Hardware on Mobile Robots

   In: Proceedings of the 2023 IEEE International Conference on Robotics and Automation. IEEE International Conference on Robotics and Automation (ICRA-2023), IEEE, 2023.

9. Marc Eisoldt; Alexander Mock; Mario Porrmann; Thomas Wiemann

   Towards 6D MCL for LiDARs in 3D TSDF Maps on Embedded Systems with GPUs

   In: Proceedings of the 2023 IEEE International Conference on Robotic Computing. IEEE International Conference on Robotic Computing (IRC-2023), IEEE, 2023.

10. Julian Gaal; Thomas Wiemann; Alexander Mock; Mario Porrmann

    FeatSense – A Feature-based Registration Algorithm with GPU-accelerated TSDF-Mapping Backend for NVIDIA Jetson Boards

    In: Proccedings of the 2023 IEEE International Conference on Robotic Computing. IEEE International Conference on Robotic Computing (IRC-2023), IEEE, 2023.

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