Achim J. Lilienthal

Welcome!

Since April 2008 I am an associate professor at the AASS Research Centre, Dept. of Technology, Örebro University where I am the acting leader of the Learning Systems Lab (since February 2006). In July 2005, I started my postdoc here in Örebro. Before, I received a PhD in Computer Science (direction: mobile robot olfaction) from the University of Tübingen in 2004, and a diploma (MSc) in physics (direction: cluster physics) from the University of Konstanz in 1998.

The picture of me which can be seen to the right was taken during IROS 2003 by one of these nice japanese photo machines that modify the raw image in unexpected ways. Usually I'm not that spooky.

Research Interests

I'm generally interested in autonomous mobile robots and more specifically my research interests include

• mobile robot olfaction,
• robotic map learning and SLAM,
• robot vision,
• machine learning and artificial intelligence,
• multi-sensor fusion,
• safe navigation systems.

I am author/co-author of over 60 refereed conference papers and journal publications and regular reviewer for international conferences and journals.

Teaching and Supervision

I have ten years experience of teaching at university level, including postgraduate courses in machine learning and undergraduate courses in digital image processing, robotics, web development with J2EE and web client programming; supervision of many B.Sc. and M.Sc. thesis projects; and supervision of 11 Ph.D. students and several Licentiate theses.

Brief CV

I was born in Messkirch, Germany in 1970. After finishing high school in 1990, I did my civil service in a retirement facility. In September 1991 I left Messkirch to study physics in Konstanz and to become a serious Handball player. I obtained B.Sc. and M.Sc. in Physics from Konstanz University where I graduated 1998 in cluster physics with a work on the "Structure of (C₆₀)_n⁺-Clusters using Gas Phase Ion Chromatography". Afterwards I worked for a couple of months as a freelancer for the software company "EffCom" in Ludwigshafen and started a Ph.D. in computer science in March 1999 at the Wilhelm-Schickard Institut in Tübingen, working from now on with gas sensitive mobile robots instead of bucky balls (C₆₀). From July 2002 to December 2002 I visited the AASS Research Centre at Örebro University, Sweden as a guest Ph.D. student. In December 2004 I received the Ph.D. degree from the University of Tübingen. The title of my Ph.D. thesis is "Gas Distribution Mapping and Gas Source Localisation with a Mobile Robot". Then I made another side trip to the software industry and worked from September 2004 until June 2005 for the company "Netzgiganten" in Stuttgart. Since July 2005 I am a senior researcher at the AASS Research Centre.

Main Publications ("Top Ten")

Mobile Robot Olfaction

• Achim J. Lilienthal, Matteo Reggente, Marco Trincavelli, Jose Luis Blanco, and Javier Gonzalez, A Statistical Approach to Gas Distribution Modelling with Mobile Robots – The Kernel DM+V Algorithm. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2009, pp. 570-576. [BibTex] [PDF (1.5MB)] [Digest (0.5MB)]
• Cyrill Stachniss, Christian Plagemann and Achim J. Lilienthal, Learning Gas Distribution Models using Sparse Gaussian Process Mixtures. Autonomous Robots, 26:2-3, 2009, pp. 187-202. [BibTex] [PDF (3.9MB)] [PDF from Autonomous Robots (2.4MB)].
• Amy Loutfi, Silvia Coradeschi, Achim J. Lilienthal and Javier Gonzalez, Gas Distribution Mapping of Multiple Odour Sources using a Mobile Robot. Robotica, 27:2, 2009, pp. 311-319. [BibTex] [PDF (1.3MB)].
• Achim J. Lilienthal, Amy Loutfi, Jose Luis Blanco, Cipriano Galindo and Javier Gonzalez, A Rao-Blackwellisation Approach to GDM-SLAM – Integrating SLAM and Gas Distribution Mapping. Proceedings of the 3rd European Conference on Mobile Robots (ECMR), 2007, pp. 126-131. [BibTex] [PDF (0.8MB)] [Presentation (14.1MB)].
• Achim J. Lilienthal, Amy Loutfi and Tom Duckett, Airborne Chemical Sensing with Mobile Robots. Sensors, 6, 2006, pp. 1616-1678. [BibTex] [PDF (10.6MB)].
• Achim J. Lilienthal, Felix Streichert and Andreas Zell, Model-based Shape Analysis of Gas Concentration Gridmaps for Improved Gas Source Localisation. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2005, pp. 3575-3580. [BibTex] [PDF (0.3MB)] [Digest (0.5MB)].
• Achim J. Lilienthal and Tom Duckett, Experimental Analysis of Gas-Sensitive Braitenberg Vehicles. Advanced Robotics, 18:8, 1 December 2004, pp. 817-834. [BibTex] [PDF (1.0MB)].
• Achim J. Lilienthal and Tom Duckett, Building Gas Concentration Gridmaps with a Mobile Robot. Robotics and Autonomous Systems, 48:1, 1 December 2004, pp. 3-16. [BibTex] [PDF (2.4MB)].
• Achim J. Lilienthal, Holger Ulmer, Holger Fröhlich, Felix Werner and Andreas Zell, Learning to Detect Proximity to a Gas Source with a Mobile Robot. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2004, pp. 1444-1449. [BibTex] [PDF (0.5MB)] [Digest (0.8MB)].
• Achim J. Lilienthal and Tom Duckett, Experimental Analysis of Smelling Braitenberg Vehicles. Proceedings of the IEEE International Conference on Advanced Robotics (ICAR), 2003, pp. 375-380. [BibTex] [PDF (2.4MB)] [Presentation (4.5MB)]. [Best Paper Award on ICAR 2003]

Robotic Map Learning and SLAM (partly also related to Robot Vision)

• Henrik Andreasson and Achim J. Lilienthal, 6D Scan Registration using Depth-Interpolated Local Image Features. Robotics and Autonomous Systems, 58:2, 2010, pp. 157-165. [BibTex] [PDF (1.7MB)].
• Martin Magnusson, Henrik Andreasson, Andreas Nüchter and Achim J. Lilienthal, Automatic Appearance-Based Loop Detection from 3D Laser Data Using the Normal Distributions Transform. Journal of Field Robotics, 26:11-12, 2009, 892-914. [BibTex]. [PDF (0.9MB)]
• Henrik Andreasson, Tom Duckett and Achim J. Lilienthal, A Minimalistic Approach to Appearance based Visual SLAM. IEEE Trans. on Robotics (Special issue on Visual SLAM), 24:5, 2008, pp. 991-1001. [BibTex] [PDF (1.2MB)].
• Martin Persson, Tom Duckett and Achim J. Lilienthal, Fusion of Aerial Images and Sensor Data from a Ground Vehicle for Improved Semantic Mapping. Robotics and Autonomous Systems, 56:6, 2008, pp. 483-492. [BibTex] [PDF (0.4MB)].
• Christoffer Valgren and Achim J. Lilienthal, Incremental Spectral Clustering and Seasons: Appearance-Based Localization in Outdoor Environments. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2008, pp. 1856-1861. [BibTex] [PDF (1.3MB)] [Digest (0.1MB)] [Presentation (7.4MB)].
• Martin Persson, Tom Duckett and Achim J. Lilienthal, Improved Mapping and Image Segmentation by Using Semantic Information to Link Aerial Images and Ground-Level Information. Lecture Notes in Control and Information Sciences (LNCIS), "Recent Progress in Robotics; Viable Robotic Service to Human", Springer, Germany, 370, 3 Dec 2007 (Copyright: 2008), 157-169. [BibTex] [PDF (0.2MB)].
• Martin Magnusson, Tom Duckett and Achim J. Lilienthal, 3D Scan Registration for Autonomous Mining Vehicles. Journal of Field Robotics, 24:10, 24 Oct 2007, pp. 803-827. [BibTex] [PDF (1.0MB)].
• Martin Persson, Tom Duckett and Achim J. Lilienthal, Virtual Sensors for Human Concepts - Building Detection by an Outdoor Mobile Robot. Robotics and Autonomous Systems, 55:5, 31 May 2007, pp. 383-390. [BibTex] [PDF (0.4MB)].
• Christoffer Valgren, Tom Duckett and Achim J. Lilienthal, Incremental Spectral Clustering and Its Application to Topological Mapping. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2007, pp. 4283-4288. [BibTex] [PDF (0.3MB)] [Digest (0.2MB)] [Presentation (4.5MB)] [Video (5MB)].
• Christoffer Valgren, Achim J. Lilienthal and Tom Duckett, Incremental Topological Mapping Using Omnidirectional Vision. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2006, pp. 3441-3447. [BibTex] [PDF (1.5MB)] [Presentation (2.0MB)].

3D Perception

• Martin Magnusson, Henrik Andreasson, Andreas Nüchter and Achim J. Lilienthal, Automatic Appearance-Based Loop Detection from 3D Laser Data Using the Normal Distributions Transform. Journal of Field Robotics, 26:11-12, 2009, 892-914. [BibTex]. [PDF (0.9MB)]
• Todor Stoyanov and Achim J. Lilienthal, Maximum Likelihood Point Cloud Acquisition from a Rotating Laser Scanner on a Moving Platform. Proceedings of the IEEE International Conference on Advanced Robotics (ICAR), 2009. [BibTex] [PDF (3.3MB)]. [Presentation (3.2MB)].
• Martin Magnusson, Andreas Nüchter, Christopher Lörken, Achim J. Lilienthal and Joachim Hertzberg, Evaluation of 3D Registration Reliability and Speed – A Comparison of ICP and NDT. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2009, pp. 3907-3912. [BibTex] [PDF (0.9MB)] [Digest (0.2MB)]
• Martin Magnusson, Tom Duckett and Achim J. Lilienthal, 3D Scan Registration for Autonomous Mining Vehicles. Journal of Field Robotics, 24:10, 24 Oct 2007, pp. 803-827. [BibTex] [PDF (1.0MB)].

Robot Vision, Fusion of Visual and Range Information

• Christoffer Valgren and Achim J. Lilienthal, SIFT, SURF & Seasons: Appearance-Based Long-Term Localization in Outdoor Environments. Robotics and Autonomous Systems, 58:2, 2010, pp. 149-156. [BibTex] [PDF (2.8MB)].
• Henrik Andreasson and Achim J. Lilienthal, 6D Scan Registration using Depth-Interpolated Local Image Features. Robotics and Autonomous Systems, 58:2, 2010, pp. 157-165. [BibTex] [PDF (1.7MB)].
• Henrik Andreasson, Tom Duckett and Achim J. Lilienthal, A Minimalistic Approach to Appearance based Visual SLAM. IEEE Trans. on Robotics (Special issue on Visual SLAM), 24:5, 2008, pp. 991-1001. [BibTex] [PDF (1.2MB)].
• Benjamin Huhle, Martin Magnusson, Wolfgang Straßer and Achim J. Lilienthal, Registration of Colored 3D Point Clouds with a Kernel-based Extension to the Normal Distributions Transform. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2008, pp. 4025-4030. [BibTex] [PDF (1.0MB)] [Digest (0.5MB)] [Presentation (3.8MB)].
• Henrik Andreasson, Martin Magnusson and Achim J. Lilienthal, Has Something Changed Here? Autonomous Difference Detection for Security Patrol Robots. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2007, pp. 3429-3435. [BibTex] [PDF (0.8MB)] [Digest (0.2MB)]
• Grzegorz Cielniak, Tom Duckett and Achim J. Lilienthal, Improved Data Association and Occlusion Handling for Vision-Based People Tracking by Mobile Robots. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2007, pp. 3436-3441. [BibTex] [PDF (0.7MB)] [Digest (0.1MB)]
• Henrik Andreasson, Rudolph Triebel and Achim J. Lilienthal, Non-iterative Vision-based Interpolation of 3D Laser Scans. In Autonomous Robots and Agents (Studies in Computational Intelligence), Volume 76, Springer, Germany, 2007, pp. 83-90. [BibTex] [PDF (1.1MB)].
• Christoffer Valgren, Tom Duckett and Achim J. Lilienthal, Incremental Spectral Clustering and Its Application to Topological Mapping. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2007, pp. 4283-4288. [BibTex] [PDF (0.3MB)] [Digest (0.2MB)] [Presentation (4.5MB)] [Video (5MB)].
• Christoffer Valgren, Achim J. Lilienthal and Tom Duckett, Incremental Topological Mapping Using Omnidirectional Vision. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2006, pp. 3441-3447. [BibTex] [PDF (1.5MB)] [Presentation (2.0MB)].

Invited Lectures

• Tianjing University, China, Mobile Robot Olfaction, December 12 - 17 2009.
  Presentation: [PDF (90.1 MB)]
• Málaga University, Spain, Mobile Robot Olfaction, Gas Distribution Modelling, Spring 2008.
  Presentation: [PDF (148.0 MB)]

Invited Presentations

• Invited presentation at the Distributed Intelligent Systems and Algorithms Laboratory (DISAL), EPFL, Lausanne, Field Robotics Research at the AASS Learning Systems Lab, 26 January 2010.
  Presentation: [PDF (23.2 MB)]
• Seminar at the Distributed Intelligent Systems and Algorithms Laboratory (DISAL), EPFL, Lausanne, Statistical Approaches to Gas Distribution Modelling with Mobile Robots – The Kernel DM+V Algorithm and Beyond, 20 April 2009.
  Presentation: [PDF (22.0 MB)]
• Information Day for Local Companies on the EU Research Programme and the Possibilities to cooperate with Örebro University, EU Projects at the AASS LS Lab, 17 March 2009.
  Presentation: [PDF (21.4 MB)]
• Invited presentation Research Work at the AASS Learning Systems Lab with a Particular Focus on Mobile Robot Olfaction, at CNRS-UNSA, Nice, France, March 10, 2009.
  Presentation: [PDF (29.4 MB)]
• Symposium 'Safety First: Dealing with Disasters', Gas Distribution Modeling with Autonomous Sensor Networks, TU Delft, 13 March 2008.
  Presentation: [PDF (29.6 MB)]
• Invited presentation Vision-Based Interpolation of 3D Scans and Autonomous Difference Detection for Security Patrol Robots, at GRIS, Tübingen University, Germany, April 20, 2007.
  Presentation: [PDF (14.8 MB)]
• Invited presentation The Dustbot Project and Beyond, at Halmstad Högskola, Sweden, January 11, 2007.
  Presentation: [PDF (13.3 MB)]
• Seminar 'Robots: Dreams, Fears, and Current Trends', Current Research at AASS Learning Systems Lab, at Urbino University, Italy, September 10, 2005.
  Presentation: [PDF (5.1 MB)]
• Invited presentation Gas Distribution Mapping and Gas Source Localisation with a Mobile Robot, at the Scuola Superiore Sant’Anna, Pontedera, Italy, September 8, 2005.
  Presentation: [PDF (13.3 MB)]

Further Presentations

• Docent lecture, Introduction to Object Recognition - Can Huge Amount of Data do the Work for us?, 8 April 2009.
  Presentation: [PDF (12.7 MB)]

Awards

• Förderpreis der TL Stiftung (15.3.2004)
  Presentation: [PDF (2.6 MB)]
• Best Paper Award, ICAR 2003 (30.6.2003)

All Publications

Refereed Journal Articles and Book Chapters

• Christoffer Valgren and Achim J. Lilienthal, SIFT, SURF & Seasons: Appearance-Based Long-Term Localization in Outdoor Environments. Robotics and Autonomous Systems, 58:2, 2010, pp. 149-156. [BibTex] [PDF (2.8MB)].
• Henrik Andreasson and Achim J. Lilienthal, 6D Scan Registration using Depth-Interpolated Local Image Features. Robotics and Autonomous Systems, 58:2, 2010, pp. 157-165. [BibTex] [PDF (1.7MB)].
• Martin Magnusson, Henrik Andreasson, Andreas Nüchter and Achim J. Lilienthal, Automatic Appearance-Based Loop Detection from 3D Laser Data Using the Normal Distributions Transform. Journal of Field Robotics, 26:11-12, 2009, 892-914. [BibTex]. [PDF (0.9MB)]
• Cyrill Stachniss, Christian Plagemann and Achim J. Lilienthal, Learning Gas Distribution Models using Sparse Gaussian Process Mixtures. Autonomous Robots, 26:2-3, 2009, pp. 187-202. [BibTex] [PDF (3.9MB)] [PDF from Autonomous Robots (2.4MB)].
• Amy Loutfi, Silvia Coradeschi, Achim J. Lilienthal and Javier Gonzalez, Gas Distribution Mapping of Multiple Odour Sources using a Mobile Robot. Robotica, 27:2, 2009, pp. 311-319. [BibTex] [PDF (1.3MB)].
• Henrik Andreasson, Tom Duckett and Achim J. Lilienthal, A Minimalistic Approach to Appearance based Visual SLAM. IEEE Trans. on Robotics (Special issue on Visual SLAM), 24:5, 2008, pp. 991-1001. [BibTex] [PDF (1.2MB)].
• Martin Persson, Tom Duckett and Achim J. Lilienthal, Fusion of Aerial Images and Sensor Data from a Ground Vehicle for Improved Semantic Mapping. Robotics and Autonomous Systems, 56:6, 2008, pp. 483-492. [BibTex] [PDF (0.4MB)].
• Martin Persson, Tom Duckett and Achim J. Lilienthal, Improved Mapping and Image Segmentation by Using Semantic Information to Link Aerial Images and Ground-Level Information. Lecture Notes in Control and Information Sciences (LNCIS), "Recent Progress in Robotics; Viable Robotic Service to Human", Springer, Germany, 370, 3 Dec 2007 (Copyright: 2008), 157-169. [BibTex] [PDF (0.2MB)].
• Martin Magnusson, Tom Duckett and Achim J. Lilienthal, 3D Scan Registration for Autonomous Mining Vehicles. Journal of Field Robotics, 24:10, 24 Oct 2007, pp. 803-827. [BibTex] [PDF (1.0MB)].
• Henrik Andreasson, Rudolph Triebel and Achim J. Lilienthal, Non-iterative Vision-based Interpolation of 3D Laser Scans. In Autonomous Robots and Agents (Studies in Computational Intelligence), Volume 76, Springer, Germany, 2007, pp. 83-90. [BibTex] [PDF (1.1MB)].
• Martin Persson, Tom Duckett and Achim J. Lilienthal, Virtual Sensors for Human Concepts - Building Detection by an Outdoor Mobile Robot. Robotics and Autonomous Systems, 55:5, 31 May 2007, pp. 383-390. [BibTex] [PDF (0.4MB)].
• Achim J. Lilienthal, Amy Loutfi and Tom Duckett, Airborne Chemical Sensing with Mobile Robots. Sensors, 6, 2006, pp. 1616-1678. [BibTex] [PDF (10.6MB)].
• Achim J. Lilienthal and Tom Duckett, Experimental Analysis of Gas-Sensitive Braitenberg Vehicles. Advanced Robotics, 18:8, 1 December 2004, pp. 817-834. [BibTex] [PDF (1.0MB)].
• Achim J. Lilienthal and Tom Duckett, Building Gas Concentration Gridmaps with a Mobile Robot. Robotics and Autonomous Systems, 48:1, 1 December 2004, pp. 3-16. [BibTex] [PDF (2.4MB)].

Refereed Conference and Workshop Papers

• Matteo Reggente and Achim J. Lilienthal, Using Local Wind Information for Gas Distribution Mapping in Outdoor Environments with a Mobile Robot. Proceedings of IEEE Sensors, 2009, pp. 1715-1720. [BibTex] [PDF (0.4MB)]
• Achim J. Lilienthal, Matteo Reggente, Marco Trincavelli, Jose Luis Blanco, and Javier Gonzalez, A Statistical Approach to Gas Distribution Modelling with Mobile Robots – The Kernel DM+V Algorithm. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2009, pp. 570-576. [BibTex] [PDF (1.5MB)] [Digest (0.5MB)]
• Björn Åstrand, Thorsteinn Rögnvaldsson, Abdelbaki Bouguerra, Henrik Andreasson, and Achim J. Lilienthal, An Autonomous Robotic System for Load Transportation. Proceedings of the 4th Swedish Workshop on Autonomous Robotics (SWAR), 2009, pp. 56-57. [BibTex] [PDF (0.9MB)].
• Matteo Reggente and Achim J. Lilienthal, Statistical Evaluation of the Kernel DM+V/W Algorithm for Building Gas Distribution Maps in Uncontrolled Environments. Proceedings of the Eurosensors XXIII conference, 2009, pp. 481-484. [BibTex] [PDF (0.3MB)] [Poster (2.0MB)].
• Abdelbaki Bouguerra, Henrik Andreasson, Achim J. Lilienthal, Björn Åstrand, and Thorsteinn Rögnvaldsson, MALTA: A System of Multiple Autonomous Trucks for Load Transportation. Proceedings of the 3rd European Conference on Mobile Robots (ECMR), 2009, pp. 91-96. [BibTex] [PDF (2.4MB)].
• Abdelbaki Bouguerra, Henrik Andreasson, Achim J. Lilienthal, Björn Åstrand, and Thorsteinn Rögnvaldsson, An Autonomous Robotic System for Load Transportation. Proceedings of the 14th IEEE Int. Conference on Emerging Technologies and Factory Automation (ETFA), 2009, to appear. [BibTex] [PDF (2.2MB)].
• Krzysztof Charusta, Dimitar Dimitrov, Achim J. Lilienthal and Boyko Iliev, Extraction of Grasp Related Features by Human Dual-Hand Object Exploration. Proceedings of the IEEE International Conference on Advanced Robotics (ICAR), 2009. [BibTex] [PDF (0.5MB)]. [Presentation (4.9MB)].
• Todor Stoyanov and Achim J. Lilienthal, Maximum Likelihood Point Cloud Acquisition from a Rotating Laser Scanner on a Moving Platform. Proceedings of the IEEE International Conference on Advanced Robotics (ICAR), 2009. [BibTex] [PDF (3.3MB)]. [Presentation (3.2MB)].
• Achim J. Lilienthal, Sahar Asadi and Matteo Reggente, Estimating Predictive Variance for Statistical Gas Distribution Modelling. AIP Conference Proceedings Volume 1137: Olfaction and Electronic Nose - Proceedings of the 13th International Symposium on Olfaction and Electronic Nose (ISOEN), 2009, pp. 65-68. [BibTex] [PDF (0.3MB)] [Presentation (12.7MB)].
• Matteo Reggente and Achim J. Lilienthal, Three-Dimensional Statistical Gas Distribution Mapping in an Uncontrolled Indoor Environment. AIP Conference Proceedings Volume 1137: Olfaction and Electronic Nose - Proceedings of the 13th International Symposium on Olfaction and Electronic Nose (ISOEN), 2009, pp. 109-112. [BibTex] [PDF (0.2MB)] [Presentation (7.6MB)].
• Martin Magnusson, Henrik Andreasson, Andreas Nüchter, and Achim J. Lilienthal, Appearance-Based Loop Detection from 3D Laser Data Using the Normal Distributions Transform. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2009, pp. 23-28. [BibTex] [PDF (0.3MB)] [Digest (0.1MB)]
• Martin Magnusson, Andreas Nüchter, Christopher Lörken, Achim J. Lilienthal and Joachim Hertzberg, Evaluation of 3D Registration Reliability and Speed – A Comparison of ICP and NDT. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2009, pp. 3907-3912. [BibTex] [PDF (0.9MB)] [Digest (0.2MB)]
• Marco Trincavelli, Matteo Reggente, Silvia Coradeschi, Hiroshi Ishida, Amy Loutfi and Achim J. Lilienthal, Towards Environmental Monitoring with Mobile Robots. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2008, pp. 2210-2215. [BibTex] [PDF (0.9MB)] [Digest (0.2MB)] [Presentation (12.2MB)].
• Martin Magnusson, Andreas Nüchter, Christopher Lörken, Achim J. Lilienthal and Joachim Hertzberg, 3D Mapping the Kvarntorp Mine – A Field Experiment for Evaluation of 3D Scan Matching Algorithms. Proceedings of IROS Workshop "3D Mapping" (IROS), 2008. [BibTex] [PDF (1.0MB)] [Abstract (0.1MB)] [Presentation (4.9MB)].
• Cyril Stachniss, Christian Plagemann, Achim J. Lilienthal and Wolfram Burgard, Gas Distribution Modeling Using Sparse Gaussian Process Mixture Models Proceedings of Robotics: Science and Systems (RSS), 2008, online. [BibTex] [PDF (1.6MB)] [Presentation (5.4MB)].
• Christoffer Valgren and Achim J. Lilienthal, Incremental Spectral Clustering and Seasons: Appearance-Based Localization in Outdoor Environments. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2008, pp. 1856-1861. [BibTex] [PDF (1.3MB)] [Digest (0.1MB)] [Presentation (7.4MB)].
• Benjamin Huhle, Martin Magnusson, Wolfgang Straßer and Achim J. Lilienthal, Registration of Colored 3D Point Clouds with a Kernel-based Extension to the Normal Distributions Transform. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2008, pp. 4025-4030. [BibTex] [PDF (1.0MB)] [Digest (0.5MB)] [Presentation (3.8MB)].
• Henrik Andreasson, Martin Magnusson and Achim J. Lilienthal, Has Something Changed Here? Autonomous Difference Detection for Security Patrol Robots. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2007, pp. 3429-3435. [BibTex] [PDF (0.8MB)] [Digest (0.2MB)]
• Grzegorz Cielniak, Tom Duckett and Achim J. Lilienthal, Improved Data Association and Occlusion Handling for Vision-Based People Tracking by Mobile Robots. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2007, pp. 3436-3441. [BibTex] [PDF (0.7MB)] [Digest (0.1MB)]
• Martin Persson, Tom Duckett and Achim J. Lilienthal, Fusion of Aerial Images and Sensor Data from a Ground Vehicle for Improved Semantic Mapping. Proceedings of IROS Workshop "From Sensors to Human Spatial Concepts" (IROS), 2007, pp. 17-24. [BibTex] [PDF (0.3MB)] [Presentation (7.8MB)]
• Christoffer Valgren and Achim J. Lilienthal, SIFT, SURF and Seasons: Long-term Outdoor Localization Using Local Features. Proceedings of the 3rd European Conference on Mobile Robots (ECMR), 2007, pp. 253-258. [BibTex] [PDF (1.8MB)] [Presentation (7.1MB)].
• Henrik Andreasson and Achim J. Lilienthal, Vision Aided 3D Laser Based Registration. Proceedings of the 3rd European Conference on Mobile Robots (ECMR), 2007, pp. 192-197. [BibTex] [PDF (0.6MB)] [Presentation (14.3MB)].
• Achim J. Lilienthal, Amy Loutfi, Jose Luis Blanco, Cipriano Galindo and Javier Gonzalez, A Rao-Blackwellisation Approach to GDM-SLAM – Integrating SLAM and Gas Distribution Mapping. Proceedings of the 3rd European Conference on Mobile Robots (ECMR), 2007, pp. 126-131. [BibTex] [PDF (0.8MB)] [Presentation (14.1MB)].
• Martin Persson, Tom Duckett and Achim J. Lilienthal, Improved Mapping and Image Segmentation by Using Semantic Information to Link Aerial Images and Ground-Level Information. Proceedings of the IEEE International Conference on Advanced Robotics (ICAR), 2007, pp. 924-929. [BibTex] [PDF (0.3MB)]
• Martin Persson, Tom Duckett, Christoffer Valgren and Achim J. Lilienthal, Probabilistic Semantic Mapping with a Virtual Sensor for Building/Nature Detection. Proceedings of the IEEE International Symposium on Computational Intelligence in Robotics and Automation (CIRA), 2007, pp. 236-242. [BibTex] [PDF (1.6MB)]
• Achim J. Lilienthal, Amy Loutfi, Jose Luis Blanco, Cipriano Galindo and Javier Gonzalez, Integrating SLAM into Gas Distribution Mapping. Proceedings of ICRA Workshop on Robotic Olfaction – Towards Real Applications, 2007, pp. 21-28. [BibTex] [PDF (1.0MB)] [Presentation (14.1MB)].
• Henrik Andreasson, Tom Duckett and Achim J. Lilienthal, Mini-SLAM: Minimalistic Visual SLAM in Large-Scale Environments Based on a New Interpretation of Image Similarity. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2007, pp. 4096-4101. [BibTex] [PDF (0.8MB)] [Digest (0.2MB)] [Presentation (6.9MB)].
• Christoffer Valgren, Tom Duckett and Achim J. Lilienthal, Incremental Spectral Clustering and Its Application to Topological Mapping. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2007, pp. 4283-4288. [BibTex] [PDF (0.3MB)] [Digest (0.2MB)] [Presentation (4.5MB)] [Video (5MB)].
• Henrik Andreasson, Rudolph Triebel and Achim J. Lilienthal, Vision Based Interpolation of 3D Laser Scans. Proceedings of the International Conference on Autonomous Robots and Agents (ICARA), 2006. [BibTex] [PDF (1.0MB)] [Presentation (7.4MB)].
• Christoffer Valgren, Achim J. Lilienthal and Tom Duckett, Incremental Topological Mapping Using Omnidirectional Vision. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2006, pp. 3441-3447. [BibTex] [PDF (1.5MB)] [Presentation (2.0MB)].
• Jun Li, Achim J. Lilienthal, Tomás Martínez-Marín and Tom Duckett, Q-RAN: A Constructive Reinforcement Learning Approach for Robot Behavior Learning. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2006, pp. 2656-2662. [BibTex] [PDF (0.4MB)] [Presentation 0.8MB].
• Martin Persson, Tom Duckett and Achim J. Lilienthal, Virtual Sensors for Human Concepts - Building Detection by an Outdoor Mobile Robot. Proceedings of the IROS Workshop "From Sensors to Human Spatial Concepts - Geometric Approaches and Appearance-Based Approaches", 2006, pp. 21-26. [BibTex] [PDF (0.4MB)] [Presentation 13.7MB].
• Alexander Skoglund, Tom Duckett, Boyko Iliev, Achim J. Lilienthal and Rainer Palm, Teaching by Demonstration of Robotic Manipulators in Non-Stationary Environments. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2006, pp. 4339-4341. [BibTex] [PDF (0.9MB)].
• Achim J. Lilienthal, Tom Duckett, Felix Werner and Hiroshi Ishida, Indicators of Gas Source Proximity using Metal Oxide Sensors in a Turbulent Environment. Proceedings of the IEEE / RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics (Biorob), 2006. [BibTex] [PDF (1.6MB)] [Digest (0.3MB)] [Poster (4.6MB)].
• Achim J. Lilienthal, Felix Streichert and Andreas Zell, Model-based Shape Analysis of Gas Concentration Gridmaps for Improved Gas Source Localisation. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2005, pp. 3575-3580. [BibTex] [PDF (0.3MB)] [Digest (0.5MB)].
• Achim J. Lilienthal, Holger Ulmer, Holger Fröhlich, Felix Werner and Andreas Zell, Learning to Detect Proximity to a Gas Source with a Mobile Robot. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2004, pp. 1444-1449. [BibTex] [PDF (0.5MB)] [Digest (0.8MB)].
• Achim J. Lilienthal, Holger Ulmer, Holger Fröhlich, Andreas Stützle, Felix Werner and Andreas Zell, Gas Source Declaration with a Mobile Robot. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2004, pp. 1430-1435. [BibTex] [PDF (0.4MB)] [Digest (0.2MB)] [Presentation (4.4MB)].
• Tom Duckett, Grzegorz Cielniak, Henrik Andreasson, Li Jun, Achim Lilienthal, Peter Biber and Tomás Martínez, Robotic Security Guard - Autonomous Surveillance and Remote Perception. Proceedings of the IEEE International Workshop on Safety, Security, and Rescue Robotics, 2004.
• Tom Duckett, Grzegorz Cielniak, Henrik Andreasson, Li Jun, Achim Lilienthal and Peter Biber, An Electronic Watchman for Safety, Security and Rescue Operations. Proceedings of SIMSafe 2004 "Improving Public Safety through Modelling and Simulation", 2004.
• Achim J. Lilienthal, Denis Reiman and Andreas Zell, Gas Source Tracing With a Mobile Robot Using an Adapted Moth Strategy. Autonome Mobile Systeme (AMS), 18. Fachgespräch, 2003, pp. 150-160. [BibTex] [PDF (1.1MB)] [Presentation (4.1MB)].
• Achim J. Lilienthal and Tom Duckett, Approaches to Gas Source Tracing and Declaration by Pure Chemo-Tropotaxis. Autonome Mobile Systeme (AMS), 18. Fachgespräch, 2003, pp. 161-171. [BibTex] [PDF (0.7MB)] [Presentation (10.4MB)].
• Achim J. Lilienthal and Tom Duckett, Creating Gas Concentration Gridmaps with a Mobile Robot. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2003, pp. 118-123. [BibTex] [PDF (1.7MB)] [Digest (0.1MB)] [Presentation (5.1MB)].
• Achim J. Lilienthal and Tom Duckett, Gas Source Localisation by Constructing Concentration Gridmaps with a Mobile Robot. Proceedings of the European Conference on Mobile Robots (ECMR), 2003, pp. 159-164. [BibTex] [PDF (2.5MB)] [Presentation (2.9MB)].
• Achim J. Lilienthal and Tom Duckett, Experimental Analysis of Smelling Braitenberg Vehicles. Proceedings of the IEEE International Conference on Advanced Robotics (ICAR), 2003, pp. 375-380. [BibTex] [PDF (2.4MB)] [Presentation (4.5MB)].
  [Best Paper Award on ICAR 2003]
• Michael R. Wandel, Achim J. Lilienthal, Tom Duckett, Udo Weimar and Andreas Zell, Gas Distribution in Unventilated Indoor Environments Inspected by a Mobile Robot. Proceedings of the IEEE International Conference on Advanced Robotics (ICAR), 2003, pp. 507-512. [BibTex] [PDF (1.9MB)].
• Achim J. Lilienthal and Tom Duckett, A Stereo Electronic Nose for a Mobile Inspection Robot, Proceedings of the IEEE International Workshop on Robotic Sensing (ROSE), 2003. [BibTex] [PDF (1.5MB)] [Ext. Abstract (0.1MB)] [Presentation (3.0MB)].
• Achim J. Lilienthal and Tom Duckett, An Absolute Positioning System for 100 Euros, Proceedings of the IEEE International Workshop on Robotic Sensing (ROSE), 2003. [BibTex] [PDF (0.7MB)] [Ext. Abstract (0.2MB)] [Presentation (2.9MB)].
• Grzegorz Cielniak, Mihajlo Miladinovic, Daniel Hammarin, Linus Göransson, Achim J. Lilienthal and Tom Duckett, Appearance-based Tracking of Persons with an Omnidirectional Vision Sensor, Proceedings of the Fourth IEEE Workshop on Omnidirectional Vision (OMNIVIS), 2003. [BibTex] [PDF (1.8MB)].
• Achim J. Lilienthal, Michael R. Wandel, Andreas Zell and Udo Weimar, Detektion und Lokalisierung einer Geruchsquelle mit einem autonomen mobilen Roboter, Robotik 2002 (VDI-Bericht Nr. 1679), 2002, pp. 689-694. [BibTex] [PDF (3.7MB)] [Presentation (4.0MB)].
• Michael Wandel, Achim J. Lilienthal, Andreas Zell and Udo Weimar, Mobile Robot Using Different Senses. Proceedings of the International Symposium on Olfaction and Electronic Nose (ISOEN), 2002, pp. 128-129. [Presentation (7.5MB)].
• Achim J. Lilienthal, Andreas Zell, Michael R. Wandel and Udo Weimar, Experiences Using Gas Sensors on an Autonomous Mobile Robot. Proceedings of EUROBOT, 2001, pp. 4005-4010. [BibTex] [PDF (0.7MB)] [Presentation (7.2MB)].
• Michael R. Wandel, Udo Weimar, Achim J. Lilienthal and Andreas Zell, Leakage Localisation with a Mobile Robot Carrying Chemical Sensors. Proceedings of the International IEEE Conference on Electronics, Circuits, and Systems (ICECS), 2001, pp. 1247-1250.
• Achim J. Lilienthal, Andreas Zell, Michael R. Wandel and Udo Weimar, Sensing Odour Sources in Indoor Environments Without a Constant Airflow by a Mobile Robot. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2001, pp. 4005-4010. [BibTex] [PDF (0.3MB)] [Presentation (1.0MB)].
• Achim J. Lilienthal, Andreas Zell, Michael R. Wandel and Udo Weimar, Ein Autonomer Mobiler Roboter mit Elektronischer Nase. Autonome Mobile Systeme (AMS), 16. Fachgespräch, 2000, pp. 201-210. [BibTex] [PDF (0.4MB)] [Ext. Abstract (0.3MB)] [Presentation (1.3MB)].

Theses

• Achim J. Lilienthal, Gas Distribution Mapping and Gas Source Localisation with a Mobile Robot. Ph.D. Thesis, Wilhelm-Schickard Institute, University of Tübingen, December 2004. [BibTex] [PDF (33.5MB)].
• Achim J. Lilienthal, Strukturuntersuchungen an (C₆₀)_n⁺-Clustern mit der Methode der Gasphasen-Ionenchromatographie. M.Sc. Thesis, Physics Faculty, University of Konstanz, July 1998.
  

Contact

Achim Lilienthal
AASS Research Centre, School of Science and Technology, Örebro University,
SE - 70182 Örebro, Sweden
Room: T1216,
Phone: (+46/0) 19 - 30 3602
Fax: (+46/0) 19 - 30 3463
Email (masked to avoid spamming): achim {dot} lilienthal {at} oru {dot} se