Intern
    Lehrstuhl für Informatik VII - Robotik und Telematik

    In Press

       

    • Dorit Borrmann, Robin Hess, Daniel Eck, Hamidreza Houshiar, Andreas Nüchter, and Klaus Schilling. Evaluation of Methods for Robotic Mapping of Cultural Heritage Sites. In Proceedings of the 2nd IFAC Conference on Embedded Systems, Computational Intelligence and Telematics in Control (CESCIT '15), Maribor, Slovenia, June 2015 (accepted).

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    • Daniel Eck, Robin Hess, Dorit Borrmann, and Klaus Schilling. Evaluation of a Kalman Filter based Localization Using a High-Precision Positioning System. In Proceedings of the 2nd IFAC Conference on Embedded Systems, Computational Intelligence and Telematics in Control (CESCIT '15), Maribor, Slovenia, June 2015 (accepted).

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    • Dorit Borrmann, Robin Hess, Daniel Eck, Andreas Nüchter, and Klaus Schilling. Robotic Mapping of Cultural Heritage Sites. In Proceedings of the 5th ISPRS International Workshop 3D-ARCH 2015: "3D Virtual Reconstruction and Visualization of Complex Architectures", Avila, Spain, February 2015.

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    • HamidReza Houshiar, Jan Elseberg, Dorit Borrmann, and Andreas Nüchter. A Study of Projections for Key Point Based Registration of Panoramic Terrestrial 3D Laser Scans, Journal of Geo-spatial Information Science, (accepted) [Get Paper].

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    2015

       

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    • Girum Demisse, Dorit Borrmann, and Andreas Nüchter. Interpreting Thermal 3D Models of Indoor Environments for Energy Efficiency. In Journal of Intelligent and Robotic Systems, Springer, ISSN 0921-0296, Volume 77, Issue 1, pages 55-72, January 2015, [Get Paper].

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    2014

       

    • Dorit Borrmann, Andreas Nüchter, Marija Dakulovic, Ivan Maurovic, Ivan Petrovic, Dinko Osmankovic, and Jasmin Velagic. A mobile robot based system for fully automated thermal 3D mapping. In Advanced Engineering Informatics, Elsevier, ISSN 1474-0346, Volume 28, Issue 4, pages 425–440, October 2014, [Get paper].

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    • Jan Elseberg, Dorit Borrmann, Johannes Schauer, Andreas Nüchter, Dirk Koriath, and Ulrich Rautenberg. A sensor skid for precise 3D modeling of production lines.. In ISPRS Ann. Photogramm. Remote Sens. Spatial Inf. Sci., II-5, Proceedings of ISPRS Technical Commission V Symposium "Close-range imaging, ranging and applications", pages 117-122, June 2014. [Get Paper] [Get Paper] [Get Poster]

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    • Dorit Borrmann, HamidReza Houshiar, Jan Elseberg, Andreas Nüchter, Falk Näth, and Stephan Winkler. Fortlaufende semantische 3D-Kartierung von archäologischen Ausgrabungsstätten. in Photogrammetrie Laserscanning Optische 3D-Messtechnik, Beiträge der Oldenburger 3D-Tage 2014, Jade Hochschule, Wichmann Verlag, February 2014.

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    2013

       

    • Girum G. Demisse, Dorit Borrmann, and Andreas Nüchter. Interpreting Thermal 3D Models of Indoor Environments for Energy Efficiency, Proceedings of the 16th IEEE International Conference on Advanced Robotics (ICAR '13), Montevideo, Uruguay, November 2013, [Get Paper].

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    • HamidReza Houshiar, Jan Elseberg, Dorit Borrmann, Andreas Nüchter. Panorama Based Point Cloud Reduction and Registration, Proceedings of the 16th IEEE International Conference on Advanced Robotics (ICAR '13), Montevideo, Uruguay, November 2013, [Get Paper].

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    • Jan Elseberg, Dorit Borrmann, and Andreas Nüchter. Algorithmic Solutions for Computing Precise Maximum Likelihood 3D Point Clouds from Mobile Laser Scanning Platforms, Remote Sensing. 5(11), 5871-5906; doi:10.3390/rs5115871, 2013. [Get Paper].

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    • Jan Elseberg, Dorit Borrmann, and Andreas Nüchter. A Study of Scan Patterns for Mobile Mapping, Proceedings of the ISPRS Conference on "Serving Society with Geoinformatics" (ISPRS-SSG '13), Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XL-7/W2, 75-80, doi:10.5194/isprsarchives-XL-7-W2-75-2013, Antalya, Turkey, November 2013, [Get Paper].

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    • Andreas Nüchter, Jan Elseberg, and Dorit Borrmann, Irma3D - An Intelligent Robot for Mapping Applications, Proceedings of the 3rd IFAC Symposium on Telematics Applications (TA '13), Seoul, Korea, November 2013, [Get Paper].

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    • HamidReza Houshiar, Jan Elseberg, Dorit Borrmann, Andreas Nüchter, Stephan Winkler, and Falk Näth. On-site Semantic Mapping of Archeological Excavation Areas, ISPRS-Annals, Proceedings of the XXIV International CIPA Symposium, Strasbourg, France, September 2013.

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    • Andreas Nüchter, Jan Elseberg, and Dorit Borrmann. Automation in 3D Laser Scanning -- From an Automated Tripod towards Optimal 3D Point Clouds from Mobile Laser Scanning. GIM International, Volume 27, Number 9, September 2013, [Get Paper].

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    • Dorit Borrmann, Pedro J. de Rezende, Cid C. de Souza, Sandor P. Fekete, Stephan Friedrich, Alexander Kröller, Andreas Nüchter, Christiane Schmidt, and Davi C. Tozoni. Point Guards and Point Clouds: Solving general Art Gallery Problems. In Proccedings of the 29th ACM Annual Symposium on Computational Geometry (SoCG '13), ISBN 978-1-4503-2031-3, pp. 347-348, Rio de Janeiro, Brazil, June 2013, [Get Paper] [Get Video].

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    • Remus-Claudiu Dumitru, Dorit Borrmann, and Andreas Nüchter. Interior Reconstruction using the 3D Hough Transform, In Proceedings of the 5th ISPRS International Workshop 3D-ARCH 2013: "3D Virtual Reconstruction and Visualization of Complex Architectures", Trento, Italy, February 2013. [Get Paper].

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    • Dorit Borrmann, HamidReza Houshiar, Jan Elseberg, Andreas Nüchter. Vom Kombinieren von 3D-Modellen mit Farb- und Temperaturinformationen . In Photogrammetrie Laserscanning Optische 3D-Messtechnik, Beiträge der Oldenburger 3D-Tage 2013, Jade Hochschule, Wichmann Verlag, February 2013.

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    • Andreas Nüchter, Jan Elseberg, Dorit Borrmann. Optimale 3D-Punktwolken aus mobilen Laserscandaten. In Photogrammetrie Laserscanning Optische 3D-Messtechnik, Beiträge der Oldenburger 3D-Tage 2013, Jade Hochschule, Wichmann Verlag, February 2013.

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    • Jan Elseberg, Dorit Borrmann, Andreas Nüchter. One Billion Points in the Cloud - An Octree for Efficient Processing of 3D Laser Scans, ISPRS Journal of Photogrammetry & Remote Sensing (JPRS), Special issue on terrestrial 3D modelling, Elsevier Science, Volume 76, pp. 76-88, ISSN 0924-2716, February 2013 [Get Paper].

    2012

       

    • Dorit Borrmann, Hassan Afzal, Jan Elseberg, Andreas Nüchter. Video: Thermal 3D Modeling of Indoor Environments for Saving Energy, In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '12), pages 4538 - 4539, Vilamoura/Algarve, Portugal, October 2012, [Get Paper].

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    • Jan Elseberg, Dorit Borrmann, Andreas Nüchter. 6DOF Semi-Rigid SLAM for Mobile Scanning, In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '12), pages 1865 - 1870, Vilamoura/Algarve, Portugal, October 2012, [Get Paper].

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    • Dorit Borrmann, Andreas Nüchter, Marija Dakulovic, Ivan Maurovic, Ivan Petrovic, Dinko Osmankovic, and Jasmin Velagic. The Project ThermalMapper – Thermal 3D Mapping of Indoor Environments for Saving Energy. In Proceedings of the 10th International IFAC Symposium on Robot Control (SYROCO '12), Dubrovnik, Croatia, September 2012, [Get Paper (PDF)].

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    • Dorit Borrmann, Hassan Afzal, Jan Elseberg, and Andreas Nüchter. Mutual Calibration for 3D Thermal Mapping. In Proceedings of the 10th International IFAC Symposium on Robot Control (SYROCO '12), Dubrovnik, Croatia, September 2012, [Get Paper (PDF)].

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    • Dorit Borrmann, Jan Elseberg, and Andreas Nüchter. Thermal 3D Mapping of Building Façades. In Proceedings of the 8th Conference on Intelligent Autonomous Systems (IAS '12), Jeju Island, Korea, 2012 [Get Paper (PDF)].

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    • Jan Elseberg, Dorit Borrmann, and Andreas Nüchter. Automatic and Full Calibration of Mobile Laser Scanning Systems. In Proceedings of the 13th International Symposium on Experimental Robotics (ISER '12), Québec City, Canada, 2012

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    • Dorit Borrmann, Jan Elseberg, and Andreas Nüchter. Thermal 3D Mapping for Saving Energy. Proceedings of the 5th International Conference on Cognitive Systems (COGSYS '12), [Get Poster (PDF)].

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    • Dorit Borrmann, Jan Elseberg, Prashant Narayan K.C., Andreas Nüchter. Ein Punkt pro Kubikmeter – präzise Registrierung von terrestrischen Laserscans mit Scanmatching. in Photogrammetrie Laserscanning Optische 3D-Messtechnik, Beiträge der Oldenburger 3D-Tage 2012, Jade Hochschule, Wichmann Verlag, February 2012.

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    • Andreas Nüchter, HamidReza Houshiar, Dorit Borrmann, and Jan Elseberg. Projektionen für die Scanregistrierung mit Hilfe von Bildmerkmalen. in Photogrammetrie Laserscanning Optische 3D-Messtechnik, Beiträge der Oldenburger 3D-Tage 2012, Jade Hochschule, Wichmann Verlag, February 2012.

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    • Jan Elseberg, Dorit Borrmann, and Andreas Nüchter. Eine Milliarde 3D-Punkte mit Standardhardware verarbeiten -- Processing One Billion 3D Points on a Standard Computer. Allgemeine Vermessungs-Nachrichten (AVN), AVN-Themenheft mit Beiträgen aus den 3D-Tagen Oldenburg , 2011.

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    2011

       

    • Jan Elseberg, Dorit Borrmann, and Andreas Nüchter Full Wave Analysis in 3D Laser Scans for Vegetation Detection in Urban Environments. In Proceedings of the XXIII International Symposium on Information, Communication and Automation Technologies (ICAT '11), IEEE Xplore, ISBN 978-1-4577-0746-9, Sarajevo, Bosnia, October 2011, [Get Paper (PDF)].

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    • Jan Elseberg, Dorit Borrmann, and Andreas Nüchter. Efficient Processing of Large 3D Point Clouds. In Proceedings of the XXIII International Symposium on Information, Communication and Automation Technologies (ICAT '11), IEEE Xplore, ISBN 978-1-4577-0746-9, Sarajevo, Bosnia, October 2011, [Get Paper (PDF)].

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    • Andreas Nüchter, Stanislav Gutev, Dorit Borrmann, and Jan Elseberg. Skyline-based Registration of 3D Laser Scans. Proceedings of the Joint ISPRS workshop on 3D city modelling & applications and the 6th 3D GeoInfo (3DCMA '11), The Chinese Academic Journal (CD ROM version) CN 11-9251/G or ISSN 1671-6787, Wuhan, China, 2011, [Get Paper (PDF)].

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    • Dorit Borrmann and David Doria. Hough Transform Plane Detector. The VTK Journal, June 2011,[VTK Journal Link].

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    • Andreas Nüchter, Stanislav Gutev, Dorit Borrmann, and Jan Elseberg. Skyline-based Registration of 3D Laser Scans. Journal of Geo-spatial Information Science, Special Issue with selected papers from the 3D City Modeling and Applications Workshop. Volume 14, Number 2, pages 85-90, June 2011, [Get Paper] [Springer Link].

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    • Dorit Borrmann, Jan Elseberg, Kai Lingemann, and Andreas Nüchter. The 3D Hough Transform for Plane Detection in Point Clouds - A Review and A new Accumulator Design . 3D research, Springer, Volume 2, Number 2, March 2011, [Get Paper (PDF)] [Springer Link].

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    • Jan Elseberg, Dorit Borrmann, and Andreas Nüchter. Eine effiziente Octree-Datenstruktur für das Verarbeiten von großen 3D-Punktwolken. In Photogrammetrie Laserscanning Optische 3D-Messtechnik, Beiträge der Oldenburger 3D-Tage 2011, Fachhochschule Oldenburg/Wilhelmshaven/Elsfleth, February 2011.

    2010

       

    • Jan Elseberg, Dorit Borrmann, Kai Lingemann, and Andreas Nüchter. Non-Rigid Registration and Rectification of 3D Laser Scans. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '10), pages 1546-1552, Taipei, Taiwan, October 2010. [Get Paper]

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    • Dorit Borrmann, Jan Elseberg, Shaan S. Rauniyar, and Andreas Nüchter. Lifelong 3D Mapping -- Monitoring with a 3D Sensor. Workshop on Environmental Monitoring at the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '10), Taipei, Taiwan, October 2010. [Note: This workshop was canceled, but the organizers decided to publish all reviewed and accepted papers online. Please use this link to visit the workshop webpage.

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    • Kaustubh Pathak, Dorit Borrmann, Jan Elseberg, Narunas Vaskevicius, Andreas Birk and Andreas Nüchter. Evaluation of the Robustness of Planas-Patches based 3D-Registration using Marker-based Ground-Truth in an Outdoor Urban Scenario. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '10), Taipei, Taiwan, October 2010. [Get Paper]

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    • Dorit Borrmann, Jan Elseberg, Kai Lingemann, and Andreas Nüchter. A Data Structure for the 3D Hough Transform for Plane Detection. In Proceedings of the 7th IFAC Symposium on Intelligent Autonomous Vehicles (IAV '10), Lecce, Italy, September 2010. [Get Paper]

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    • Dorit Borrmann, Jan Elseberg, Kai Lingemann, and Andreas Nüchter. Verbesserte Kartenqualität durch Thin Plate Splines und Hough Transformation. In Photogrammetrie Laserscanning Optische 3D-Messtechnik, Beiträge der Oldenburger 3D-Tage 2010, Fachhochschule Oldenburg/Wilhelmshaven/Elsfleth, February 2010.

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    2008

       

    • Werner Brockmann, Sven Albrecht, Dorit Borrmann, and Jan Elseberg. Dexterous Energy-Autarkic Climbing Robot. In Proceedings of the 11th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR 2008). Coimbra, Portugal, September 2008.

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    • Dorit Borrmann, Jan Elseberg, Kai Lingemann, Andreas Nüchter, and Joachim Hertzberg. The Efficient Extension of Globally Consistent Scan Matching to 6 DoF. In Proceedings of the 4th International Symposium on 3D Data Processing, Visualization and Transmission (3DPVT '08), Available electronically as Tech Report GT-IC-08-05 from the Georgia Institute of Technology, Atlanta, GA, USA, pages 29-36, June 2008 [Get Paper] [Get Video].

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    • Dorit Borrmann, Jan Elseberg, Kai Lingemann, Andreas Nüchter and Joachim Hertzberg. Globally consistent 3D mapping with scan matching. Journal of Robotics and Autonomous Systems, 56(2):130-142, 2008, [ScienceDirect Link] [Get Paper Draft] [Get Videos].

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    • Andreas Nüchter, Kai Lingemann, Dorit Bormann, Jan Elseberg, and Jan Böhm. Global Konsistente 3D-Kartierung mit Scanmatching. in Photogrammetrie Laserscanning Optische 3D-Messtechnik, Beiträge der Oldenburger 3D-Tage 2008, Fachhochschule Oldenburg/Ostfr./Whv., Wichmann Verlag, pp. 194-201, February 2008.

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    Theses

       

    • Dorit Borrmann and Jan Elseberg, Deforming Scans for Improving the Map Quality using Plane Extraction and Thin Plate Splines , M.Sc. Computer Science, University of Osnabrück, submitted September 2009.

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    • Dorit Borrmann and Jan Elseberg, Global konsistente 3D Kartierung am Beispiel des Botanischen Gartens in Osnabrück [PDF], B.Sc. Mathematics / Computer Science, University of Osnabrück, submitted October 2006.

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    Kontakt

    Lehrstuhl für Informatik VII (Robotik und Telematik)
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    97074 Würzburg

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