Andreas Nüchter

Abstract

Optimal Acquisition of Laser Scan Data

In this talk, we illustrate how one of the classical areas of computational geometry has gained in practical relevance, which in turn gives rise to new, fascinating geometric problems. In particular, we demonstrate how the mobile robot platform Irma3D can produce high-resolution, virtual 3D environments, based on a limited number of laser scans. Computing an optimal set of scans amounts to solving an instance of the Art Gallery Problem (AGP): Place a minimum number of stationary guards in a polygonal region, such that the whole region is guarded. While this problem is NP-hard, the equivalent in the mobile mapping case, is solvable efficiently. Here a single mobile guard, i.e. a watchmen has to find a tour, that covers the whole scene. In addition to discussing the AGP and Watchmen problem, we will look at the online exploration problem and apply mobile mapping in the case, where the scene geometry is not know before.

Curriculum Vitae

Andreas Nüchter is professor of computer science (telematics) at University of Würzburg. Before summer 2013 he headed as assistant professor the Automation group at Jacobs University Bremen. Prior he was a research associate at University of Osnabrück. Further past affiliations were with the Fraunhofer Institute for Autonomous Intelligent Systems (AIS, Sankt Augustin), the University of Bonn, from which he received the diploma degree in computer science in 2002 (best paper award by the German society of informatics (GI) for his thesis) and the Washington State University. He holds a doctorate degree (Dr. rer. nat) from University of Bonn. His thesis was shortlisted for the EURON PhD award. Andreas works on robotics and automation, cognitive systems and artificial intelligence. His main research interests include reliable robot control, 3D environment mapping, 3D vision, and laser scanning technologies, resulting in fast 3D scan matching algorithms that enable robots to perceive and map their environment in 3D representing the pose with 6 degrees of freedom.