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European Conferenceon Mobile Robots

ECMR 2015

EMMTEC building,University of Lincoln, UK

September 2-4

EUROPEAN CONFERENCE ON MOBILE ROBOTS2-4 SEPTEMBER, 2015, LINCOLN, UK

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Lincoln Centre for Autonomous Systems University of Lincoln, UK

EUROPEAN CONFERENCE ON MOBILE ROBOTS2-4 SEPTEMBER, 2015, LINCOLN, UK

Welcome to Lincoln!

It is a great pleasure to welcome you to the 7th European Conference on Mobile Robots(ECMR’15) in the cathedral city of Lincoln, following the previous editions of the con-ference in Radziejowice, Poland (2003); Ancona, Italy (2005); Freiburg, Germany (2007);Mlini/Dubrovnik, Croatia (2009); Orebro, Sweden (2011), and Barcelona, Spain (2013).The conference is organised in a three-day single-track format with three keynote talks,six oral sessions and two poster sessions. Keynote talks will be given by Maja Pantic fromImperial College London, Roland Siegwart from ETH Zurich and Ingmar Posner from theUniversity of Oxford. The technical program is accompanied by three social events: thewelcome reception, conference dinner, and cultural visit and farewell at Lincoln Castle.Welcome to Lincoln. We wish you an exciting ECMR’15!

Adriana Tapus, Tom Duckett

Keynote speakers

INGMAR POSNER: Learning on the Job: Autonomy Based on Experience

The Oxford RobotCar Project aims to provide robust, long-term autonomous driving ata price point suitable for mass-market adoption. At its core, however, lies a philosophyfundamentally different to that fuelling more conventional autonomous driving research:autonomy when offered, as opposed to on demand. In this talk we will motivate this phi-losophy and provide an overview of the technology underlying our approach to autonomousdriving and beyond.

ROLAND SIEGWART: Design and navigation of robots that roll, run and fly

Robots are rapidly evolving from factory work-horses, which are physically bound to theirwork-cells, to increasingly complex machines capable of performing challenging tasks suchas search and rescue, surveillance and inspections, planetary exploration or autonomoustransportation of goods. This requires robots to operate in unstructured and unpredictableenvironments and various terrains. This talk will focus on design and navigation aspectsof wheeled, legged, and aerial robots operating in complex environments.

MAJA PANTIC: Automatic Analysis of Facial Behaviour

The human face is our pre-eminent means to identify the other members of our species andcommunicate affective and social signals. This talk summarises a number of aspects of thehuman face and facial behavior and how they can be automatically sensed and analysedby computers. Past research in the field conducted by the iBUG group at Imperial CollegeLondon and how far we are from enabling computers to detect, track and recognise humanface and facial expressions are discussed in detail.

Lincoln Centre for Autonomous Systems University of Lincoln, UK

EUROPEAN CONFERENCE ON MOBILE ROBOTS2-4 SEPTEMBER, 2015, LINCOLN, UK

Wednesday September 2nd - Programme

08:00-08:45 REGISTRATION AND COFFEE at the EMMTEC building

08:45-09:00 OPENING: Tom Duckett, Adriana Tapus

09:00-10:10 KEYNOTE TALK: Ingmar PosnerLearning on the Job: Autonomy Based on Experience

10:10-10:40 COFFEE BREAK

10:40-12:00 ORAL SESSION I: 3D SENSING Chair: Achim Lilienthal

10:40 Jan Razlaw, David Droeschel, Dirk Holz, Sven BehnkeEvaluation of Registration Methods for Sparse 3D Laser Scans

11:00 Alejo Concha, Javier CiveraAn Evaluation of Robust Cost Functions for RGB Direct Mapping

11:20 Dirk Holz, Sven BehnkeApproximate Surface Reconstruction and Registration for RGB-D SLAM

11:40 Elias Mueggler, Nathan Baumli, Flavio Fontana, Davide ScaramuzzaTowards Evasive Maneuvers with Quadrotors using Dynamic Vision Sensors

12:00-13:30 LUNCH

13:30-14:50 ORAL SESSION II: ROBOT MAPPING Chair: Georgio Grisetti

13:30 Roberto Capobianco, Jacopo Serafin, Johann Dichtl, Giorgio Grisetti, LucaIocchi, Daniele NardiA Proposal for Semantic Map Representation and Evaluation

13:50 Sahar Asadi, Achim LilienthalApproaches to Time-Dependent Gas Distribution Modelling

14:10 Robert Lukierski, Stefan Leutenegger, Andrew DavisonRapid Free-Space Mapping From a Single Omnidirectional Camera

14:30 Nils Bore, Patric Jensfelt, John FolkessonRetrieval of Arbitrary 3D Objects From Robot Observations

15:00-15:50 POSTER SPOTLIGHTS I Chair: Marc Hanheide

15:50-16:20 COFFEE BREAK at the MINERVA building, Mezzanine Floor

16:20-17:30 POSTER DISPLAY I at the MINERVA building, Rooms MB1019-20

17:30-19:00 WELCOME RECEPTION at the David Chiddick building

Lincoln Centre for Autonomous Systems University of Lincoln, UK

EUROPEAN CONFERENCE ON MOBILE ROBOTS2-4 SEPTEMBER, 2015, LINCOLN, UK

Wednesday September 2nd - Posters

0. R. Socas, S. Dormido, R. DormidoEvent-based Control Strategy for the Guidance of the Aerosonde UAV

1. R.J. Harding, M.A. WhittyEmploying Android Devices for Autonomous Control of a UGV

2. F. Boniardi, B. Behzadian, W. Burgard, G.D. TipaldiRobot Navigation in Hand-Drawn Sketched Maps

3. A. Kemppainen, I. Vallivaara, J. RoningMagnetic Field SLAM Exploration: Frequency Domain Gaussian Processes and In-formative Route Planning

4. P. Bechon, M. Barbier, C. Lesire , G. Infantes, V. VidalUsing Hybrid Planning for Plan Reparation

5. M. Wang, R. Dearden, N. HawesRobot Plans Execution for Information Gathering Tasks with Resources Constraints

6. A. Corominas-Murtra, J. Pages, S. PfeifferMulti-Target and Multi-Detector People Tracker for Mobile Robots

7. K. Kosnar,V. Vonasek, L. PreucilKnowledge-base Topological Exploration for Mobile Robots

8. M. Nieuwenhuisen, S. Behnke3D Planning and Trajectory Optimization for Real-time Generation of Smooth MAVTrajectories

9. J. Ekekrantz, A. Thippur, J. Folkesson, P. JensfeltProbabilistic Primitive Refinement Algorithm for Colored Point Cloud Data

10. A. Hermann, F. Mauch, K. Fischnaller, S. Klemm, A. Roennau, R. DillmannAnticipate your Surroundings: Predictive Collision Detection between Dynamic Ob-stacles and Planned Robot Trajectories on the GPU

11. O. McAree, J.M. Aitken, L. Boorman, D. Cameron, A. Chua, E.C. Collins, S. Fer-nando, J. Law, U. Martinez-HernandezFloor Determination in the Operation of a Lift by a Mobile Guide Robot

12. H. Deeken, T. Wiemann, K. Lingemann, J. HertzbergSEMAP - A Semantic Environment Mapping Framework

13. S.G.Shahbandi, B. Astrand, R. PhilippsenSemi-Supervised Semantic Labeling of Adaptive Cell Decomposition Maps in Well-Structured Environments

14. T. Igelbrink, T. Wiemann, J. HertzbergGenerating Topologically Consistent Triangle Meshes from Large Scale Kinect Fusion

15. M. Kollmitz, K. Hsiao, J. Gaa, W. BurgardTime Dependent Planning on a Layered Social Cost Map for Human-Aware RobotNavigation

Lincoln Centre for Autonomous Systems University of Lincoln, UK

EUROPEAN CONFERENCE ON MOBILE ROBOTS2-4 SEPTEMBER, 2015, LINCOLN, UK

Thursday September 3rd - Programme

08:30-09:00 REGISTRATION at the EMMTEC building

09:00-10:10 KEYNOTE TALK: Roland SiegwartDesign and navigation of robots that roll, run and fly

10:10-10:40 COFFEE BREAK

10:40-12:00 ORAL SESSION III: LONG-TERM AUTONOMY Chair: Jan Faigl

10:40 Lenka Mudrova, Bruno Lacerda, Nick Hawes:An Integrated Control Framework for Long-Term Autonomy in Mobile ServiceRobots

11:00 Tayyab Naseer, Benjamin Suger, Michael Ruhnke, Wolfram BurgardVision-Based Markov Localization Across Large Perceptual Changes

11:20 Peer Neubert, Peter ProtzelLocal Region Detector + CNN-based Landmarks for Practical Place Recognitionin Changing Environments

11:40 Tom Krajnik, Pablo Cristoforis, Matias Nitsche, K. Kusumam, Tom DuckettImage Features and Seasons Revisited

12:00-13:30 LUNCH

13:30-14:30 ORAL SESSION IV: EXPLORATION Chair: Dirk Holz

13:30 Jan Faigl, Miroslav KulichOn Benchmarking of Frontier-Based Multi-Robot Exploration Strategies

13:50 Ignacio Perez-Hurtado, Jesus Capitan, Fernando Caballero, Luis MerinolAn Extension of GHMMs for Environments With Occlusions and AutomaticGoal Discovery for Person Trajectory Prediction

14:10 Tomas Krajnik, Joao M. Santos, Tom DuckettLife-Long Spatio-Temporal Exploration of Dynamic Environments

14:40-15:40 POSTER SPOTLIGHTS II Chair: Grzegorz Cielniak

15:40-16:10 COFFEE BREAK at the MINERVA building, Mezzanine Floor

16:10-17:30 POSTER SESSION II at the MINERVA building, Rooms MB1019-20

19:00-22:30 CONFERENCE DINNER at DoubleTree by Hilton hotel, BrayfordWharf North

Lincoln Centre for Autonomous Systems University of Lincoln, UK

EUROPEAN CONFERENCE ON MOBILE ROBOTS2-4 SEPTEMBER, 2015, LINCOLN, UK

Thursday September 3rd - Posters

16. A.D. May, C. Dondrup, M. HanheideShow Me Your Moves! Conveying Navigation Intention of a Mobile Robot to Humans

17. A. Mancini, E. Frontoni, P. ZingarettiDevelopment of a Low-cost Unmanned Surface Vehicle for Digital Survey

18. M.S. Karthik, S. Mittal, G. Malik, K.M. KrishnaDecision Theoretic Search for Small Objects through Integrating Far and Near Cues

19. R. Stricker, S. Mueller, H.M. GrossR2D2 Reloaded: Dynamic Video Projection on a Mobile Service Robot

20. M. Lora, S. Ghidoni, M. Munaro, E. MenegattiA Geometric Approach to Multiple Viewpoint Human Body Pose Estimation

21. J.R. Ruiz-Sarmiento, C. Galindo, J. Gonzalez-JimenezOLT: A Toolkit for Object Labeling Applied to Robotic RGB-D Datasets

22. S.Di Lucia, G.D. Tipaldi, W. BurgardAttitude Stabilization Control of an Aerial Manipulator using a Quaternion-BasedBackstepping Approach

23. J. Laechele, J. Venrooij, P. Pretto, A. Zell, and H.H. BuelthoffNovel Approach for Calculating Motion Feedback in Teleoperation

24. R.T. Chadalavada, H. Andreasson, R. Krug and A.J. LilienthalThat’s on my Mind! Robot to Human Intention Communication through on-boardProjection on Shared Floor Space

25. J. Prado, S. Felipe, L. MarquesBayesian Sensor Fusion for Multi-Platform Landmines Detection

26. J. Ernits, E. Halling, G. Kanter, J. VainModel-based Integration Testing of ROS packages: a Mobile Robot Case Study

27. V.K. Ghorpade, P. Checchin, L. TrassoudaineLine-of-Sight-based ToF Camera’s Range Image Filtering for Precise 3D Scene Re-construction

28. M. Himstedt, E. MaehleGeometry matters: Place Recognition in 2D Scans using Geom. Surface Relations

29. T.P. Kucner, M. Magnusson, A.J. LilienthalWhere am I? An NDT-based prior for MCL

30. A.A. Khaliq, F. Pecora, A. SaffiottiInexpensive, Reliable, Localization-free Navigation using an RFID Floor

31. N.D. Reddy, A.K. MondalIncremental Real-time Multibody VSLAM with Trajectory Optimization Using StereoCamera

32. T. Krajnik, J. Blazicek, J.M. SantosVisual Road Following Using Intrinsic Images

33. C. Manss, D. Shutin, A.V. Ruiz, T. Wiedemann, J. MuellerExploration under Sparsity Constraints

34. I. Cvisic, I. PetrovicStereo Odometry Based on Careful Feature Selection and Tracking

35. A. Ramaswamy and B. Monsuez, A. TapusModel-Driven Self-Adaptation of Robotics Software using Probabilistic Approach

Lincoln Centre for Autonomous Systems University of Lincoln, UK

EUROPEAN CONFERENCE ON MOBILE ROBOTS2-4 SEPTEMBER, 2015, LINCOLN, UK

Friday September 4th - Programme

08:30-09:00 REGISTRATION at the EMMTEC building

09:00-10:10 KEYNOTE TALK: Maja PanticAutomatic Analysis of Facial Behaviour

10:10-10:40 COFFEE BREAK

10:40-12:00 ORAL SESSION V: PLANNING Chair: Alessandro Saffiotti

10:40 Christoph Roesmann, Frank Hoffmann, Torsten Bertram:Planning of Multiple Robot Trajectories in Distinctive Topologies

11:00 Sedat Dogru, Lino MarquesTowards Fully Autonomous Energy Efficient Coverage Path Planning for Au-tonomous Mobile Robots on 3D Terrain

11:20 Pablo Urcola, Mayte Lazaro, Jose A. Castellanos, Luis MontanoGeneration of Probabilistic Graphs for Path Planning from Stochastic Maps

11:40 G. Singh Malik, K. Gupta, K. Madhava Krishna, S. Roy ChowdhuryFPGA-based Combinatorial Architecture for Parallelizing RRT

12:00-13:30 LUNCH

13:30-14:50 ORAL SESSION VI: NAVIGATION Chair: Lino Marques

13:30 M. Rapp, M. Barjenbruch, K. Dietmayer, M. Hahn, J. DickmannA Fast Probabilistic Ego-Motion Estimation Framework for Radar

13:50 Aamir Ahmad, Heinrich H. BuelthoffMoving-horizon Nonlinear Least Squares-based Multirobot Cooperative Percep-tion

14:10 Hadi Saoud, Minh-Duc Hua, Frederic Plumet, Faiz Ben AmarRouting, Course Control of an Autonomous Sailboat

14:30 L. Pfotzer, M. Staehler, A. Hermann, A. Roennau, R. DillmannKAIRO 3: Moving Over Stairs & Unknown Obstacles with Reconfigurable Snake-Like Robots

14:50-15:00 CLOSING Tom Duckett

18:00-21:00 CULTURAL VISIT + FAREWELL at Lincoln Castle, Castle Hill

Lincoln Centre for Autonomous Systems University of Lincoln, UK

EUROPEAN CONFERENCE ON MOBILE ROBOTS2-4 SEPTEMBER, 2015, LINCOLN, UK

Conference Venue

ECMR’15 will be held at the Brayford Campus of the University of Lincoln. The campus islocated near the city centre and is within walking distance of Lincoln Central Station andmost of Lincoln’s hotels. Registration, keynote talks, oral sessions and poster spotlightswill take place in the East Midlands Media and Technology Centre (EMMTEC) building.Poster presentations will take place in the MINERVA building on the first floor.

The welcome reception will be held on Wednesday 2nd at 17:30 in the David Chid-dick building. The event will be accompanied by robot demonstrations from the co-locatedSTRANDS Summer School on Long-term Autonomy for Mobile Robots (LAMoR15). Theconference dinner will be held on Thursday 3rd at 19:00 at the DoubleTree by Hiltonhotel, which is located on the opposite side of the Brayford Pool to the EMMTEC building.The ECMR cultural visit will take place on Friday 4th from 18:00 to 21:00 at LincolnCastle, which is reachable within a 25-minute walk uphill (the walk up Steep Hill is highlyrecommended). Admission to the Castle closes at 18:30. The conference farewell willtake place at 20:00 at Langton’s Cafe within the Castle, and the bar at Langton’s will beopen from 18:00 to 21:00.

Lincoln Centre for Autonomous Systems University of Lincoln, UK