TY - JOUR A1 - Spiess, Florian A1 - Reinhart, Lukas A1 - Strobel, Norbert A1 - Kaupp, Tobias A1 - Kaiser, Dennis A1 - Kounev, Samuel T1 - People detection with depth silhouettes and convolutional neural networks on a mobile robot JF - Journal of Image and Graphics N2 - This paper presents a novel people detection approach for mobile robot applications based on a combination of classical computer vision techniques and a state-of-the-art neural network. Our approach involves an RGB-D camera as an environmental sensor. The depth data is used to extract silhouettes around people. The RGB images are subsequently augmented with this border information before passing it to the neural network. Under challenging lighting conditions, our system was able to outperform the neural network trained on regular RGB data alone by a factor of two. Y1 - 2021 UR - http://www.joig.net/index.php?m=content&c=index&a=show&catid=72&id=277 VL - 9 IS - 4 SP - 135 EP - 139 ER - TY - CHAP A1 - Spiess, Florian A1 - Strobel, Norbert A1 - Kaupp, Tobias A1 - Kounev, Samuel T1 - A data-driven Sensor Model for LIDAR Range Measurements used for Mobile Robot Navigation T2 - 2022 Sixth IEEE International Conference on Robotic Computing (IRC) N2 - In this paper, an analysis of the precision of LIDAR range measurements is presented. LIDAR data from two different sensors (HLS-LFCD-LDS and SICK TIM561) were analyzed regarding the influence of range, incident angle to the surface, and material. Based on the results, a data-driven model for LIDAR precision behavior was developed, and a comparison with standard deviation models based on the vendor-provided specifications was presented. Our model can be used to create realistic sensor simulations and to develop robot navigation algorithms weighing sensor range readings based on the precision. Y1 - 2022 U6 - https://doi.org/10.1109/IRC55401.2022.00020 SP - 76 EP - 80 ER - TY - JOUR A1 - Spiess, Florian A1 - Friesslich, Jonas A1 - Kaupp, Tobias A1 - Kounev, Samuel A1 - Strobel, Norbert T1 - Survey and Experimental Comparison of RGB-D Indoor Robot Navigation Methods Supported by ROS and Their Expansion via Fusion with Wheel Odometry and IMU Data JF - International Journal of Mechanical Engineering and Robotics Research Y1 - 2020 U6 - https://doi.org/10.18178/ijmerr.9.12.1532-1540 VL - 9 IS - 12 SP - 1532 EP - 1540 ER - TY - JOUR A1 - Spiess, Florian A1 - Strobel, Norbert A1 - Kaupp, Tobias A1 - Kounev, Samuel T1 - A data-driven Model for Range Sensors JF - Encyclopedia with Semantic Computing and Robotic Intelligence Y1 - 2023 UR - https://www.worldscientific.com/doi/abs/10.1142/S2529737623500065?journalCode=escri ER -