Christian Plagemann

Christian Plagemann

Authored Publications
Google Publications
Other Publications
Sort By
  • Title
  • Title, descending
  • Year
  • Year, descending
    Real-Time Human Pose Tracking from Range Data
    Varun Ganapathi
    Daphne Koller
    Sebastian Thrun
    Proceedings of the European Conference on Computer Vision (ECCV)(2012)
    Preview abstract Tracking human pose in real-time is a difficult problem with many interesting applications. Existing solutions suffer from a variety of problems, especially when confronted with unusual human poses. In this paper, we derive an algorithm for tracking human pose in real-time from depth sequences based on MAP inference in a probabilistic temporal model. The key idea is to extend the iterative closest points (ICP) objective by modeling the constraint that the observed subject cannot enter free space, the area of space in front of the true range measurements. Our primary contribution is an extension to the articulated ICP algorithm that can efficiently enforce this constraint. Our experiments show that including this term improves tracking accuracy significantly. The resulting filter runs at 125 frames per second using a single desktop CPU core. We provide extensive experimental results on challenging real-world data, which show that the algorithm outperforms the previous state-of the-art trackers both in computational efficiency and accuracy. View details
    Body Schema Learning
    Jürgen Sturm
    Wolfram Burgard
    Towards Service Robots for Everyday Environments(2012), pp. 131-161
    A nonparametric learning approach to range sensing from omnidirectional vision
    Cyrill Stachniss
    Jürgen Hess
    Felix Endres
    Nathan Franklin
    Robotics and Autonomous Systems, 58(2010), pp. 762-772
    Assisted Highway Lane Changing with RASCL
    Richard Oliver Frankel
    Olafur Gudmundsson
    Brett Miller
    Jordan Potter
    Todd Sullivan
    Salik Syed
    Doreen Hoang
    Jae Min John
    Ki-Shui Liao
    Pasha Nahass
    Amanda Schwab
    Jessica Yuan
    David Stavens
    Clifford Nass
    Sebastian Thrun
    AAAI Spring Symposium: Embedded Reasoning(2010)
    Real Time Motion Capture Using a Single Time-Of-Flight Camera
    Varun Ganapathi
    Daphne Koller
    Sebastian Thrun
    CVPR(2010)
    Upsampling range data in dynamic environments
    Jennifer Dolson
    Jongmin Baek
    Sebastian Thrun
    CVPR(2010), pp. 1141-1148
    A probabilistic approach to mixed open-loop and closed-loop control, with application to extreme autonomous driving
    J. Zico Kolter
    David T. Jackson
    Andrew Y. Ng
    Sebastian Thrun
    ICRA(2010), pp. 839-845
    Real-time identification and localization of body parts from depth images
    Varun Ganapathi
    Daphne Koller
    Sebastian Thrun
    ICRA(2010), pp. 3108-3113
    Classifying dynamic objects
    Matthias Luber
    Kai Oliver Arras
    Wolfram Burgard
    Auton. Robots, 26(2009), pp. 141-151
    Look-ahead Proposals for Robust Grid-based SLAM with Rao-Blackwellized Particle Filters
    Slawomir Grzonka
    Giorgio Grisetti
    Wolfram Burgard
    I. J. Robotic Res., 28(2009), pp. 191-200
    Unsupervised discovery of object classes from range data using latent Dirichlet allocation
    Felix Endres
    Cyrill Stachniss
    Wolfram Burgard
    Robotics: Science and Systems(2009)
    Probabilistic situation recognition for vehicular traffic scenarios
    Daniel Meyer-Delius
    Wolfram Burgard
    ICRA(2009), pp. 459-464
    Learning Kinematic Models for Articulated Objects
    Jürgen Sturm
    Vijay Pradeep
    Cyrill Stachniss
    Kurt Konolige
    Wolfram Burgard
    IJCAI(2009), pp. 1851-1856
    Learning gas distribution models using sparse Gaussian process mixtures
    Cyrill Stachniss
    Achim J. Lilienthal
    Auton. Robots, 26(2009), pp. 187-202
    Modeling RFID signal strength and tag detection for localization and mapping
    Dominik Joho
    Wolfram Burgard
    ICRA(2009), pp. 3160-3165
    A Bayesian regression approach to terrain mapping and an application to legged robot locomotion
    Sebastian Mischke
    Sam Prentice
    Kristian Kersting
    Nicholas Roy
    Wolfram Burgard
    J. Field Robotics, 26(2009), pp. 789-811
    Estimating landmark locations from geo-referenced photographs
    Henrik Kretzschmar
    Cyrill Stachniss
    Wolfram Burgard
    IROS(2008), pp. 2902-2907
    Monocular range sensing: A non-parametric learning approach
    Felix Endres
    Juergen Michael Hess
    Cyrill Stachniss
    Wolfram Burgard
    ICRA(2008), pp. 929-934
    Classifying Dynamic Objects: An Unsupervised Learning Approach
    Matthias Luber
    Kai Oliver Arras
    Wolfram Burgard
    Robotics: Science and Systems(2008)
    Nonstationary Gaussian Process Regression Using Point Estimates of Local Smoothness
    Kristian Kersting
    Wolfram Burgard
    ECML/PKDD (2)(2008), pp. 204-219
    Learning predictive terrain models for legged robot locomotion
    Sebastian Mischke
    Sam Prentice
    Kristian Kersting
    Nicholas Roy
    Wolfram Burgard
    IROS(2008), pp. 3545-3552
    Gaussian mixture models for probabilistic localization
    Patrick Pfaff
    Wolfram Burgard
    ICRA(2008), pp. 467-472
    Adaptive Body Scheme Models for Robust Robotic Manipulation
    Jürgen Sturm
    Wolfram Burgard
    Robotics: Science and Systems(2008)
    Gas Distribution Modeling using Sparse Gaussian Process Mixture Models
    Cyrill Stachniss
    Achim J. Lilienthal
    Wolfram Burgard
    Robotics: Science and Systems(2008)
    Unsupervised body scheme learning through self-perception
    Jürgen Sturm
    Wolfram Burgard
    ICRA(2008), pp. 3328-3333
    Efficiently learning high-dimensional observation models for Monte-Carlo localization using Gaussian mixtures
    Patrick Pfaff
    Cyrill Stachniss
    Wolfram Burgard
    IROS(2008), pp. 3539-3544
    Autonomous blimp control using model-free reinforcement learning in a continuous state and action space
    Axel Rottmann
    Peter Hilgers
    Wolfram Burgard
    IROS(2007), pp. 1895-1900
    A Probabilistic Relational Model for Characterizing Situations in Dynamic Multi-Agent Systems
    Daniel Meyer-Delius
    Georg von Wichert
    Wendelin Feiten
    Gisbert Lawitzky
    Wolfram Burgard
    GfKl(2007), pp. 269-276
    Efficient Failure Detection on Mobile Robots Using Particle Filters with Gaussian Process Proposals
    Dieter Fox
    Wolfram Burgard
    IJCAI(2007), pp. 2185-2190
    Improved likelihood models for probabilistic localization based on range scans
    Patrick Pfaff
    Wolfram Burgard
    IROS(2007), pp. 2192-2197
    Gaussian Beam Processes: A Nonparametric Bayesian Measurement Model for Range Finders
    Kristian Kersting
    Patrick Pfaff
    Wolfram Burgard
    Robotics: Science and Systems(2007)
    Adaptive Non-Stationary Kernel Regression for Terrain Modeling
    Tobias Lang
    Wolfram Burgard
    Robotics: Science and Systems(2007)
    Most likely heteroscedastic Gaussian process regression
    Kristian Kersting
    Patrick Pfaff
    Wolfram Burgard
    ICML(2007), pp. 393-400
    Look-Ahead Proposals for Robust Grid-Based SLAM
    Slawomir Grzonka
    Giorgio Grisetti
    Wolfram Burgard
    FSR(2007), pp. 329-338
    Efficient Failure Detection for Mobile Robots Using Mixed-Abstraction Particle Filters
    Cyrill Stachniss
    Wolfram Burgard
    EUROS(2006), pp. 93-107
    Learning Relational Navigation Policies
    Alexandru Cocora
    Kristian Kersting
    Wolfram Burgard
    Luc De Raedt
    IROS(2006), pp. 2792-2797
    Sequential Parameter Estimation for Fault Diagnosis in Mobile Robots Using Particle Filters
    Wolfram Burgard
    AMS(2005), pp. 197-202
    Vision-Based 3D Object Localization Using Probabilistic Models of Appearance
    Thomas Müller
    Wolfram Burgard
    DAGM-Symposium(2005), pp. 184-191