3DTK implements among other things the following scientific papers:
  • Johannes Schauer, Janusz Bedkowski, Karol Majek, and Andreas Nüchter. Performance comparison between state-of-the-art point-cloud based collision detection approaches on the CPU and GPU. in Proceedings of the 4th IFAC Symposium on Telematics Applications (TA '16), Porto Alegre, Brazil, November 2016, [Get Paper].

  • Johannes Schauer and Andreas Nüchter. Collision detection between point clouds using an efficient k-d tree implementation. Advanced Engineering Informatics, Elsevier, Volume 29, Issue 3, pages 440-458, August 2015. [Get Paper].

  • Johannes Schauer and Andreas Nüchter. Efficient Point Cloud Collision Detection and Analysis in a Tunnel Environment using Kinematic Laser Scanning and k-d Tree Search. In Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XL-3,, Proceedings of Photogrametric Computer Vision (PCV '14), pages 289-295, Zurich, September 2014. [Get Paper] [Get Paper] [Get Poster].

  • 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, Urugauy. [Get Paper].

  • 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].

  • Mihai-Cotizo Sima and Andreas Nüchter. An extension of the Felzenszwalb-Huttenlocher segmentation to 3D point clouds, In Proceedings of the 5th International Conference on Machine Vision (ICMV '12), SPIE 8783, Wuhan, China, October 2012, DOI 10.1117/12.2010527, (878302 (March 13, 2013)), [Get Paper].

  • 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)].

  • 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, Journal 3D Research, ISSN 2092-6731, Springer, Volume 2, Number 2, March 2011, [Get Paper (PDF)] [Springer Link].

  • Andreas Nüchter, Jan Elseberg, Peter Schneider, and Dietrich Paulus. Study of Parameterizations for the Rigid Body Transformations of The Scan Registration Problem, Journal Computer Vision and Image Understanding (CVIU), Elsevier Science, Volume 114, Issue 8, pp. 963-980, ISSN 1077-3142, August 2010. [Get Paper (PDF)] [Elsevier Link with supplementary content].

  • Deyuan Qiu, Stefan May, and Andreas Nüchter. GPU-accelerated Nearest Neighbor Search for 3D Registration. In Proceedings of the 7th International Conference on Computer Vision Systems (ICVS '09). LNCS 5815, Spinger ISBN 978-3-642-04666-7, pages 194-203, Lìege Belgium, October 2009. [Get Paper (PDF)]

  • Jochen Sprickerhof, Andreas Nüchter, Kai Lingemann, Joachim Hertzberg. An Explicit Loop Closing Technique for 6D SLAM, In Proceedings of the 4th European Conference on Mobile Robots (ECMR '09), Mlini/Dubrovnic, Croatia, September 2009. [Get Paper (PDF)] [Get Videos].

  • 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] [Addendum].

  • Oliver Wulf, Andreas Nüchter, Joachim Hertzberg, and Bernardo Wagner. Benchmarking Urban Six-Degree-of-Freedom Simultaneous Localization and Mapping. Journal of Field Robotics (JFR), Wiley & Son, ISSN 1556-4959, Volume 25, Issue 3, pages 148 - 163, March, 2008, [Get Paper] [Get Videos].

  • Andreas Nüchter. Parallelization of Scan Matching for Robotic 3D Mapping. In Proceedings of the 3rd European Conference on Mobile Robots (ECMR '07), Freiburg, Germany, September 2007, [Get Paper], [View Online Proceedings].

  • Andreas Nüchter, Kai Lingemann, and Joachim Hertzberg. Cached k-d tree search for ICP algorithms. In Proceedings of the 6th IEEE International Conference on Recent Advances in 3D Digital Imaging and Modeling (3DIM '07), IEEE Computer Society Press, ISBN 0-7695-2939-9, pages 419 - 426, Montreal, Canada, August 2007, [Get Paper (PDF)] [HTML Version].

  • Dorit Borrmann, Jan Elseberg, Kai Lingemann, Andreas Nüchter, and Joachim Hertzberg. Globally consistent 3D mapping with scan matching. Journal of Robotics and Autonomous Systems (JRAS), Elsevier Science, Volume 56, Issue 2, ISSN 0921-8890, pages 130 - 142, February 2008, [ScienceDirect Link] [Get Paper] [Get Videos] [Addendum].

  • Andreas Nüchter, Kai Lingemann, Joachim Hertzberg, and Hartmut Surmann, 6D SLAM - 3D Mapping Outdoor Environments Journal of Field Robotics (JFR), Special Issue on Quantitative Performance Evaluation of Robotic and Intelligent Systems, Wiley & Son, ISSN 1556-4959, Volume 24, Issue 8-9, pages 699 - 722, August - September, 2007, [Get Paper].

Informatics VII - Robotics and Telematics, Prof. Dr Andreas Nüchter, andreas (at) nuechti.de, Tel. +49-177-7951270