Publications

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2013
ROS Commander: Flexible Behavior Creation for Home Robots Nguyen, Hai., Ciocarlie, Matei., Hsiao, Kaijen., and Kemp, Charles ICRA , 05/2013, (2013)
Robots for Humanity: A Case Study in Assistive Mobile Manipulation Chen, Tiffany., Ciocarlie, Matei., Cousins, Steve., Grice, Phillip M.., Hawkins, Kelsey., Hsiao, Kaijen., Kemp, Charlie., King, Chih-Hung., Lazewatsky, Daniel., Leeper, Adam Eric, et al. IEEE Robotics & Automation Magazine, Special issue on Assistive Robotics, Volume 20, Issue 1, (2013)  Download: Chen_RFH_ram_2013.pdf (2.82 MB)
A Single Planner for a Composite Task of Approaching, Opening and Navigating through Non-spring and Spring-loaded Door Gray, Steven., Chitta, Sachin., Kumar, Vijay., and Likhachev, Maxim ICRA , (2013)
2012
Robots for Humanity: User-Centered Design for Assistive Mobile Manipulation Chen, Tiffany., Ciocarlie, Matei., Cousins, Steve., Grice, Phillip., Hawkins, Kelsey., Hsiao, Kaijen., Kemp, Charlie., King, Chih-Hung., Lazewatsky, Daniel., Leeper, Adam, et al. IROS Video Proceedings, 10/2012, (2012)
Manipulation with Multiple Action Types Barry, Jennifer., Hsiao, Kaijen., Kaelbling, Leslie Pack., and Lozano-Perez, Tomas International Symposium on Experimental Robotics (ISER), (2012)  Download: iser2012.pdf (8.9 MB)
2011
Point Feature Extraction on 3D Range Scans Taking into Account Object Boundaries Steder, Bastian., Rusu, Radu Bogdan., Konolige, Kurt., and Burgard, Wolfram International Conference on Robotics and Automation, 2011, (2011)  Download: icra2011_3dfeatures.pdf (1.23 MB)
ORB: An Efficient Alternative to SIFT or SURF Rublee, Ethan., Rabaud, Vincent., Konolige, Kurt., and Bradski, Gary International Conference on Computer Vision, 11/2011, Barcelona, (2011)  Download: orb_final.pdf (932.61 KB)
g2o: A General Framework for Graph Optimization Kummerle, Rainer., Grisetti, G.., Strasdat, H.., Konolige, Kurt., and Burgard, Wolfram ICRA, 05/2011, Shanghai, (2011)  Download: g2o-icra11.pdf (1.35 MB)
Navigation in Hybrid Metric-Topological Maps Marder-Eppstein, Eitan., Konolige, Kurt., and Marthi, Bhaskara International Conference on Robotics and Automation, 05/2011, Shanghai, (2011)  Download: icra-top-nav.pdf (681.29 KB)
Skill Learning and Task Outcome Prediction for Manipulation Pastor, Peter., Kalakrishnan, Mrinal., Chitta, Sachin., Theodorou, Evangelos., and Schaal, Stefan International Conference on Robotics and Automation, 05/2011, Shanghai, China, (2011)  Download: Pastor_ICRA_2011.pdf (1.96 MB)
STOMP: Stochastic Trajectory Optimization for Motion Planning Kalakrishnan, Mrinal., Chitta, Sachin., Theodorou, Evangelos., Pastor, Peter., and Schaal, Stefan International Conference on Robotics and Automation, 05/2011, Shanghai, China, (2011)  Download: Kalakrishnan_ICRA_2011.pdf (3.56 MB)
Toward Automatic 3D Generic Object Modeling from One Single Image Sun, Min., Kumar, Shyam Sunder., Bradski, Gary., and Savarese, Silvio 3DIMPVT, 05/2011, Hangzhou, China, (2011) Abstract  Download: 3dimpvt_camera_ready.pdf (13.07 MB)
Human-Inspired Robotic Grasp Control with Tactile Sensing Romano, Joseph., Hsiao, Kaijen., Niemeyer, Günter., Chitta, Sachin., and Kuchenbecker, Katharine J. IEEE Transactions on Robotics, Volume 27, Issue 6, p.1067-1079, (2011)  Download: romano2011.pdf (2.82 MB)
RIDE: Mixed-Mode Control for Mobile Robot Teams Karulf, Erik., Strother, Marshall., Dunton, Parker., and Smart, William D. Proceedings of the 6th ACM/IEEE International Conference on Human-Robot Interaction, Lausanne, Switzerland, (2011)
Robust Grasping Under Object Pose Uncertainty Hsiao, Kaijen., Kaelbling, Leslie Pack., and Lozano-Perez, Tomas Autonomous Robots: Special Issue on RSS 2010, (2011)  Download: grasping_under_uncertainty.pdf (1.96 MB)
Yelling In the Hall: Using Sidetone to Address a Problem with Mobile Remote Presence Systems Paepcke, Andreas., Soto, Bianca., Takayama, Leila., Koenig, Frank., and Gassend, Blaise Symposium on User Interface Software and Technology (UIST 2011), Santa Barbara, CA, p.107-116, (2011)  Download: UIST2011_Sidetone.pdf (3.52 MB)
2010
Modeling the World Around Us :: An Efficient 3D Representation for Personal Robotics Burgard, Wolfram., Wurm, Kai., Bennewitz, Maren., Stachniss, Cyril., Hornung, Armin., Rusu, Radu Bogdan., and Konolige, Kurt Workshop on Defining and Solving Realistic Perception Problems in Personal Robotics at the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), October 8, 2010, Taipei, Taiwan, (2010)
NARF: 3D Range Image Features for Object Recognition Steder, Bastian., Rusu, Radu Bogdan., Konolige, Kurt., and Burgard, Wolfram Workshop on Defining and Solving Realistic Perception Problems in Personal Robotics at the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), October 8, 2010, Taipei, Taiwan, (2010)  Download: steder10irosws.pdf (424.31 KB)
Calibrating a multi-arm multi-sensor robot: A Bundle Adjustment Approach Pradeep, Vijay., Konolige, Kurt., and Berger, Eric International Symposium on Experimental Robotics (ISER), 12/2010, New Delhi, India, (2010) Abstract  Download: calibration.pdf (2.27 MB)
Learning from Demonstration: A Study of Visual and Auditory Communication and Influence Diagrams Koenig, Nate., Takayama, Leila., and Matarić, Maja J. International Symposium on Experimental Robotics (ISER), 12/2010, Delhi, India, (2010)  Download: iser_2010.pdf (4.74 MB)
Sparse Pose Adjustment for 2D Mapping Konolige, Kurt., Grisetti, Giorgio., Kummerle, Rainer., Burgard, Wolfram., Limketkai, Benson., and Vincent, Régis IROS, 10/2010, Taipei, Taiwan, (2010)  Download: spa2d.pdf (1.42 MB)
Sparse Sparse Bundle Adjustment Konolige, Kurt British Machine Vision Conference, 08/2010, Aberystwyth, Wales, (2010)  Download: ssba.pdf (1.16 MB)
3D Pose Estimation, Tracking and Model Learning of Articulated Objects from Dense Depth Video using Projected Texture Stereo Sturm, Jürgen., Konolige, Kurt., Stachniss, Cyrill., and Burgard, Wolfram Proc. of the Workshop RGB-D: Advanced Reasoning with Depth Cameras at Robotics: Science and Systems (RSS), 06/2010, Zaragoza, Spain, (2010) Abstract  Download: sturm10rssws[1].pdf (953.56 KB)
The Office Marathon: Robust Navigation in an Indoor Office Environment Marder-Eppstein, Eitan., Berger, Eric., Foote, Tully., Gerkey, Brian P.., and Konolige, Kurt International Conference on Robotics and Automation, 05/2010, (2010) Abstract  Download: icra2010_marder-eppstein.pdf (1.06 MB)
Autonomous Door Opening and Plugging In with a Personal Robot Meeussen, Wim., Wise, Melonee., Glaser, Stuart., Chitta, Sachin., McGann, Conor., Mihelich, Patrick., Marder-Eppstein, Eitan., Muja, Marius., Eruhimov, Victor., Foote, Tully, et al. ICRA , (2010) Abstract  Download: m2.pdf (1.12 MB)