Martin Magnusson

Welcome!

I am a post-doc resercher working at the Learning Systems lab of AASS.

My main research is concerned with 3D range sensing. I have primarily investigated 3D scan registration and mobile-robot applications such as localisation and semantic analysis of 3D scenes.

Brief CV

I was born in Karlskoga, Sweden, in 1977. I received my undergraduate education in computer science at Uppsala University, interleaved with periods of work and play. I wrote my Master's thesis on the subject of hierarchical reinforcement learning for balancing a bipedal robot, and received my fil. mag. (M. Sc.) in computer science from Uppsala University in 2004.

Between 2004 and 2009, I have been an industrial graduate student at Örebro University in cooperation with Atlas Copco Rock Drills. The focus of my research has been the 3D normal-distributions transform and its applications for scan registration, surface analysis, and loop detection. I recently (December 2009) received a tekn. dr. (Ph. D.) degree from Örebro University.

I am currently involved in two projects together with Volvo Construction Equipment, with the target application being autonomous wheel loaders. One is the ALL-4-eHAM project, where we study methods for mobile-robot perception and navigation in dynamic outdoor environments, as well as methods for efficient autonomous handling of piled materials. The other project is concerned with active safety: making it possible for autonomous wheel loaders to operate in environments together with people.

Selected publications

• 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)]

  Animation of results, showing correctly detected "new places" and "loop detections" [MPEG-4, 6.9MB].

  Affinity matrices: outcome of the algorithm vs ground truth.

  Loop detection result (excerpt).

• 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)].

  Underground mine data set used for evaluation.

• 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)]

  Registration results, ICP (left) vs NDT (right). Green: success. Red: failure.

• 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)]

  Failed registration, using visual features only.

  Registration result when additionally using Color-NDT.

All publications

Journal articles

• 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)].
• 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)].

Conference papers

• 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)]
• 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)]
• 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)]
• Martin Magnusson and Tom Duckett, A Comparison of 3D Registration Algorithms for Autonomous Underground Mining Vehicles, Proceedings of the European Conference on Mobile Robotics (ECMR), 2005, pp. 86-91. [BibTex] [PDF]
• Martin Magnusson, Rolf Elsrud, Lars-Erik Skagerlund and Tom Duckett, 3D Modelling for Underground Mining Vehicles, Proceedings of the Conference on Modeling and Simulation for Public Safety (SimSafe), 2005, pp. 19-25. [BibTex] [PDF]

Workshop papers

• 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)].

Theses

• Martin Magnusson, The Three-Dimensional Normal-Distributions Transform — an Efficient Representation for Registration, Surface Analysis, and Loop Detection. Doctoral Thesis, Örebro University, 2009. [BibTex] [PDF (6.4MB)].
• Martin Magnusson, 3D Scan Matching for Mobile Robots with Application to Mine Mapping. Licentiate Thesis, Örebro University, 2006. [BibTex] [PDF (2.9MB)].
• Martin Magnusson, Hierarchical Reinforcement Learning for Balancing a Humanoid Robot. Master Thesis, Uppsala University, 2004.

Calendar

Contact

Martin Magnusson
AASS Research Centre, School of Science and Technology, Örebro University,
SE - 70182 Örebro, Sweden
Room: T-1216,
Phone: (+46/0) 19 - 303870
Fax: (+46/0) 19 - 303463
Email (masked to avoid spamming): martin {dot} magnusson {at} oru {dot} se

This web site also features a blank page (see the TPILB Project).