Publications


  • Using Extended Measurements and Scene Merging for Efficient and Robust Point Cloud Registration. Jacopo Serafin, and Giorgio Grisetti, Robotics and Autonomous Systems (RAS), vol. 92, pp. 91-106, 2017. paper (pdf) source code
  • 3-D Map Merging on Pose Graphs, Taigo Maria Bonanni, Bartolomeo Della Corte, Giorgio Grisetti. In IEEE Robotics and Automation Letters, 2017. paper (link)
  • Visual localization and loop closing using decision trees and binary features. Dominik Schlegel, Giorgio Grisetti. In Proc. IEEE/RSJ International Conference on of Intelligent Robots and Systems (IROS), 2016. paper (pdf)
  • Fast and Robust 3D Feature Extraction from Sparse Point Clouds. Jacopo Serafin, Edwin Olson and Giorgio Grisetti. In Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), Daejeon, Korea, pp. 4105-4112, 2016. paper (pdf)
  • Unsupervised calibration of wheeled mobile platforms. M. Di Cicco and B. Della Corte and G. Grisetti. In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), Stockholm, May 2016. paper (pdf)
  • NICP: Dense Normal Based Point Cloud Registration. Jacopo Serafin and Giorgio Grisetti. In Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), Hamburg, Germany, pp. 742-749, 2015 paper(pdf) source code
  • Non-parametric calibration for depth sensors. M. Di Cicco and L. Iocchi and G. Grisetti. Robotics and Autonomous Systems, 2015. paper (pdf)
  • Non-parametric calibration for depth sensors. M. Di Cicco and L. Iocchi and G. Grisetti. In Proc. of the Int. Conf. on Intelligent Autonomous Systems (IAS), Padua 2014. paper (pdf)
  • Experimental Analysis of Dynamic Covariance Scaling for Robust Map Optimization Under Bad Initial Estimates. P. Agarwal, G. Grisetti, G. D. Tipaldi, L. Spinello, W. Burgard, and C. Stachniss. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, China, 2014. paper (pdf)
  • Merging partially consistent maps. Taigo Maria Bonanni, Giorgio Grisetti, Luca Iocchi. In Proc. of the International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR), October 2014. paper (pdf)
  • Using Augmented Measurements to Improve the Convergence of ICP. Jacopo Serafin and Giorgio Grisetti. In Proc. of the Int. Conf. on Simulation, Modeling and Programming for Autonomous Robots (SIMPAR), October 2014. paper (pdf)
  • Exploration and Mapping of Catacombs with Mobile Robots. V. A. Ziparo, M. Zaratti, G. Grisetti, T. Bonanni, J. Serafin, M. Di Cicco, M. Proesmans, L. van Gool, O. Vysotska, I. Bogoslavskyi and C. Stachniss. In IEEE Int. Symposium on Safety, Security, and Rescue Robotics (SSRR), Linköping, Sweden, pp. 1-2, 2013. paper (pdf)
  • Efficient Traversability Analysis for Mobile Robots using the Kinect Sensor. I. Bogoslavskyi, O. Vysotska, J. Serafin, G. Grisetti, and C. Stachniss. In Proc. of the European Conference on Mobile Robots (ECMR), Barcelona, Spain, 2013. paper (pdf)
  • Multi-Robot SLAM using Condensed Measurements, M. T. Lázaro, L. M. Paz, P. Piniés, J. A. Castellanos and G. Grisetti, In Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS). Tokyo Big Sight, Japan, 2013. paper (pdf) source code
  • Robust Optimization of Factor Graphs by using Condensed Measurements. G. Grisetti, R. Kümmerle, and K. Ni. In Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), Vilamoura, Portugal, October 2012. paper (pdf)
  • Highly Accurate 3D Surface Models by Sparse Surface Adjustment. M. Ruhnke, R. Kümmerle, G. Grisetti, and W. Burgard. In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), St. Paul, MN, USA, May 2012. paper (pdf)
  • Simultaneous Parameter Calibration, Localization, and Mapping. R. Kümmerle, G. Grisetti, and W. Burgard. Advanced Robotics, 26(17):2021-2041, 2012. paper (pdf)
  • A Fully Autonomous Indoor Quadrotor. S. Grzonka, G. Grisetti, and W. Burgard. IEEE Transactions on Robotics (T-RO), 8(1):90-100, 2012. paper (pdf)
  • Large Scale Graph-based SLAM using Aerial Images as Prior Information. R. Kuemmerle, B. Steder, C. Dornhege, A. Kleiner, G. Grisetti, and W. Burgard. Journal of Autonomous Robots, 30(1):25-39, 2011 paper(link).
  • Highly Accurate Maximum Likelihood Laser Mapping by Jointly Optimizing Laser Points and Robot Poses. M. Ruhnke, R. Kuemmerle, G. Grisetti, and W. Burgard. In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA). Shanghai, China, May 2011. paper (pdf)
  • g2o: A General Framework for Graph Optimization. R. Kuemmerle, G. Grisetti, H. Strasdat, K. Konolige, and W. Burgard. In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA). Shanghai, China, May 2011. paper (pdf) source code
  • A Tutorial on Graph-based SLAM. Giorgio Grisetti, Rainer Kuemmerle, Cyrill Stachniss, and Wolfram Burgard. IEEE - Transactions on Intelligent Transportation Systems Magazine. 2010. paper (pdf)
  • Sparse Pose Adjustment for 2D Mapping. K. Konolige, G. Grisetti, R. Kuemmerle, W. Burgard, B. Limketkai, and R. Vincent. In Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS). Taipei, Taiwan, October 2010. paper (pdf)
  • A Hierarchical Optimization on Manifolds for Online 2D and 3D Mapping. Giorgio Grisetti, Rainer Kümmerle, Cyrill Stachniss, Udo Frese, and Christoph Hertzberg. In Proc. of the IEEE International Conference on Robotics and Automation (ICRA). paper (pdf)
  • Life-long map learning for graph-based simulta- neous localization and mapping. Henrik Kretzschmar, Giorgio Grisetti, and Cyrill Stachniss. KI - Kuenstliche Intelligenz, 24 (3), p. 199-206, 2010. paper (pdf)
  • Non-Linear Constraint Network Optimization for Efficient Map Learning . Giorgio Grisetti, Cyrill Stachniss, and Wolfram Burgard. IEEE - Transations on Intelligent Transportation systems. paper (6 pg, pdf)
  • Robust On-line Model-based Object Detection from Range Images. Bastian Steder, Giorgio Grisetti, Mark Van Loock, and Wolfram Burgard. IROS, 2009. paper (6 pg, pdf)
  • Towards a Navigation System for Autonomous Indoor Flying. Slawomir Grzonka, Giorgio Grisetti, Wolfram Burgard ICRA, 2009 (Best Conference Paper Award). paper (6 pg, pdf)
  • Unsupervised Learning of 3D Object Models from Partial Views. Michael Ruhnke, Bastian Steder, Giorgio Grisetti, and Wolfram Burgard. ICRA, 2009 paper (6 pg, pdf).
  • Look-ahead Proposals for Robust Grid-based SLAM with Rao-Blackwellized Particle Filters. Slawomir Grzonka, Christian Plagemann, Giorgio Grisetti, Wolfram Burgard. International Journal of Robotics Research (IJRR) 2009 Vol. 28. paper (6 pg, pdf)
  • Large Scale Graph-based SLAM using Aerial Images as Prior Information. Rainer Kuemmerle, Bastian Steder, Christian Dornhege, Alexander Kleiner, Giorgio Grisetti, and Wolfram Burgard. IROS, 2009. paper (8 pg, pdf)
  • A Comparison of SLAM Algorithms Based on a Graph of Relations. Wolfram Burgard, Cyrill Stachniss, Giorgio Grisetti, Bastian Steder, Rainer Kuemmerle, Christian Dornhege, Michael Ruhnke, Alexander Kleiner, Juan D. Tardos. IROS, 2009. paper (7 pg, pdf)
  • Bridging the Gap Between Feature- and Grid-based SLAM. Kai Wurm, Cyrill Stachniss, and Giorgio Grisetti, Robotics and Autonomous Systems, 2009. paper (12 pg, pdf)
  • Visual SLAM for Flying Vehicles. Bastian Steder, Giorgio Grisetti, Cyrill Stachniss, and Wolfram Burgard. IEEE Transactions on Robotics, Volume 24(5), pages 1088-1093, 2008. paper (7 pg, pdf)
  • Towards a Fully Autonomous Indoor Helicopter. Slawomir Grzonka, Samir Bouabdallah, Giorgio Grisetti, Wolfram Burgard, Roland Siegwart. IROS Workshop on Visual guidance systems for small autonomous aerial vehicles , 2008.
  • How to Learn Accurate Grid Maps with a Humanoid. Cyrill Stachniss, Maren Bennewitz, Giorgio Grisetti, Sven Behnke and Wolfram Burgard. ICRA, 2008. paper (7 pg, pdf)
  • Online Constraint Network Optimization for Efficient Maximum Likelihood Mapping . Giorgio Grisetti, Dario Lodi Rizzini, Cyrill Stachniss, Edwin Olson and Wolfram Burgard. ICRA, 2008. paper (7 pg, pdf)
  • Efficient Estimation of Accurate Maximum Likelihood Maps in 3D . Giorgio Grisetti, Slawomir Grzonka, Cyrill Stachniss, Patrik Pfaff and Wolfram Burgard

IROS, 2007. paper (7 pg, pdf) source code

  • Approximate Covariance Estimation in Graphical Approaches to SLAM. Gian Diego Tipaldi, Giorgio Grisetti, and Wolfram Burgard. IROS, 2007. paper (8 pg, pdf)
  • Analyzing Gaussian Proposal Distributions for Mapping with Rao-Blackwellized Particle Filters . Cyrill Stachniss, Giorgio Grisetti, and Wolfram Burgard. IROS, 2007. paper (8 pg, pdf)
  • Learning Maps in 3D using Attitude and Noisy Vision Sensors. B. Steder, G. Grisetti, S. Grzonka, C. Stachniss, A. Rottmann, and W. Burgard, IROS, 2007. paper (8 pg, pdf)
  • Look-ahead Proposals for Robust Grid-based SLAM. Slawomir Grzonka, Christian Plagemann, Giorgio Grisetti, Wolfram Burgard. The 6th International Conference on Field and Service Robotics (FSR). Chamonix, France, July 2007 paper (8 pg, pdf)
  • Improved Simultaneous Localization and Mapping using a Dual Representation of the Environment. Kai M. Wurm, Cyrill Stachniss, Giorgio Grisetti, and Wolfram Burgard. In Proc. of the European Conference on Mobile Robots (ECMR), 2007. paper (6 pg, pdf)
  • Efficiently Learning Metric and Topological Maps with Autonomous Service Robots. Cyrill Stachniss, Giorgio Grisetti, Oscar Martinez Mozos, and Wolfram Burgard. In it - Information Technology, 2007.
  • A Tree Parameterization for Efficiently Computing Maximum Likelihood Maps using Gradient Descent. Giorgio Grisetti, Cyrill Stachniss, Slawomir Grzonka, and Wolfram Burgard. Robotics: Science and Systems (RSS), Atlanta, GA, USA, 2007. paper (8 pg, pdf) source code
  • Improved Techniques for Grid Mapping with Rao-Blackwellized Particle Filters. Giorgio Grisetti, Cyrill Stachniss, and Wolfram Burgard. Transactions on Robotics, 2006. paper (12 pg, pdf)
  • Fast and Accurate SLAM with Rao-Blackwellized Particle Filters. Giorgio Grisetti, Gian D. Tipaldi, Cyrill Stachniss, Wolfram Burgard, and Daniele Nardi. Robotics and Autonomous Systems, 2006. paper (16 pg, pdf)
  • Mapping with an Autonomous Car. Pierre Lamon, Cyrill Stachniss, Rudolph Triebel, Patrick Pfaff, Christian Plagemann, Giorgio Grisetti, Sascha Kolski, Wolfram Burgard, and Roland Siegwart. In Proc. of the Workshop on Safe Navigation in Open and Dynamic Environments at the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Beijing, China, 2006. paper (11 pg, pdf)
  • Speeding-Up Rao-Blackwellized SLAM. Giorgio Grisetti, Gian Diego Tipaldi, Cyrill Stachniss, Wolfram Burgard, and Daniele Nardi. In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), pages 442-447, Orlando, FL, USA, 2006.
  • On Actively Closing Loops in Grid-based FastSLAM. Cyrill Stachniss, Dirk Haehnel, Wolfram Burgard, and Giorgio Grisetti. Advanced Robotics - The Int. Journal of the Robotics Society of Japan (RSJ), 2005, Volume 19, number 10, pages 1059-1080. paper (20 pg, pdf, 785 kB) |
  • Information Gain-based Exploration Using Rao-Blackwellized Particle Filters. Cyrill Stachniss, Giorgio Grisetti, and Wolfram Burgard In Proc. of Robotics: Science and Systems (RSS) 2005. paper (8 pg, pdf, 520 kB) | Online Proceedings
  • Information Gain-based Exploration Using Rao-Blackwellized Particle Filters. Wolfram Burgard, Cyrill Stachniss, and Giorgio Grisetti. In Proc. of the Learning Workshop (Snowbird), Snowbird, UT, 2005. extended abstract (2 pg, pdf, 270 kB)
  • Recovering Particle Diversity in a Rao-Blackwellized Particle Filter for SLAM After Actively Closing Loops. Cyrill Stachniss, Giorgio Grisetti, and Wolfram Burgard. ICRA 2005. paper (6 pg, pdf, 330 kB)
  • Improving Grid-based SLAM with Rao-Blackwellized Particle Filters by Adaptive Proposals and Selective Resampling. Giorgio Grisetti, Cyrill Stachniss, and Wolfram Burgard. ICRA 2005. paper (updated version, 6 pg, pdf, 500 kB) Get the source code of the mapper!
  • Scan Matching in the Hough Domain. A. Censi, L. Iocchi, G. Grisetti. ICRA 2005. paper (6 pg, pdf, 1500 kB)
  • Global Hough Localization for Mobile Robots in Polygonal Environments. G. Grisetti, L. Iocchi, D. Nardi. ICRA 2002. paper (6 pg, pdf, 220 kB)
  • Improved Rao-Blackwellized Mapping by Adaptive Sampling and Active Loop-Closure. Cyrill Stachniss, Giorgio Grisetti, Dirk Haehnel, and Wolfram Burgard. In Proc. of the Workshop on Self-Organization of AdaptiVE behavior (SOAVE). paper (15 pg, pdf, 620 kB)
  • Generation and Execution of Partially Correct Plans in Dynamic Environments. A. Farinelli, G. Grisetti, L. Iocchi, D. Nardi, R. Rosati. In Proc. of Third International Cognitive Robotics Workshop (COGROB) 2002. paper (8 pg, pdf, 60 kB)
  • A Comparative Analysis of Particle Filter based Localization Methods. L. Marchetti, G. Grisetti, L. Iocchi In Proc. of RoboCup Symposium, 2006. paper (12 pg, pdf, 400 kB)
  • Coordination in Dynamic Environments with Constraints on Resources. Alessandro Farinelli, Giorgio Grisetti, Luca Iocchi, Daniele Nardi. IROS Workshop on Cooperative Robotics, 2002. paper (8 pg, pdf, 150 kB)
  • Design and evaluation of multi agent systems for rescue operations. A. Farinelli, G. Grisetti, L. Iocchi, S. Lo Cascio, D. Nardi. In In Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'03), Vol. 4 pages 3138-3143, 2003.
  • RoboCup Rescue Simulation: Methodologies, Tools and Evaluation for Practical Applications. Alessandro Farinelli, Giorgio Grisetti, S.Lo Cascio, Luca Iocchi, Daniele Nardi. In Proc. of RoboCup Symposium, 2003. paper (9 pg, pdf, 640 kB)
  • Monitoring and Information Fusion for Search and Rescue Operations in Large-Scale Disasters. F. D'Agostino, A. Farinelli, G. Grisetti, L. Iocchi, D. Nardi. In Proc. of 5th International Conference on Information Fusion, 672-679, 2002.
  • Design and implementation of modular software for programming mobile robots. A. Farinelli, G. Grisetti, L. Iocchi. paper (9 pg, pdf, 550 kB) |