Achim J. Lilienthal

Achim J. Lilienthal
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Achim J. Lilienthal

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Computer Science - Robotics (2)

Publications Authored By Achim J. Lilienthal

Often, robots have to work in situations where classic sensors do not perform well. Dust, fire or smoke can corrupt laser scanners and camera measurements. In those situation, it is important to be able to reason on non-visible and unknown part of the environment. 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