Achim J. Lilienthal

Achim J. Lilienthal
Are you Achim J. Lilienthal?

Claim your profile, edit publications, add additional information:

Contact Details

Achim J. Lilienthal

Pubs By Year

Pub Categories

Computer Science - Robotics (2)

Publications Authored By Achim J. Lilienthal

We present a graph representation that fuses information from the robot sensory system and an emergency-map into one. Emergency-maps are a support extensively used by firemen in rescue mission. Enabling the robot to use such prior maps instead of starting SLAM from scratch will aid planning and navigation for robots in new environments. Read More

In order to deal with the scaling problem of volumetric map representations we propose spatially local methods for high-ratio compression of 3D maps, represented as truncated signed distance fields. We show that these compressed maps can be used as meaningful descriptors for selective decompression in scenarios relevant to robotic applications. As compression methods, we compare using PCA-derived low-dimensional bases to non-linear auto-encoder networks and novel mixed architectures that combine both. Read More