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Henrik Andreasson

Position: Senior Lecturer School/office: School of Science and Technology

Email: henrik.andreasson@oru.se

Phone: No number available

Room: T1218

Research subject

Computer Science

Research environments

Centre for Applied Autonomous Sensor Systems (AASS)

About Henrik Andreasson

I'm currently an Associate Professor in Computer Science at AASS (Applied Autonomous Sensor Systems). I received my Ph.D. degree from Örebro University and my M.Sc. from KTH (Royal Institute of Technology) in 2008 and 2002 respectively.

My primary research interest lies in perception for autonomous system. More specifically, I'm interested in how to utilize sensory data from a mobile robot to model its surroundings, e.g., create a map of the environment that can, for example, be used to quickly and accurately determine its own position.

I have previously developed methods and techniques to robustly detect people in industrial environments by utilizing reflective property of standard safety clothing, which is now a commercial product.

Overall, I'm interested in all aspects involved in moving autonomous systems around in an efficient and smooth way; including mapping and localization, motion planning and control as well as coordination of multiple vehicles.

Active projects

Completed projects

Research groups

Mobile Robotics and Olfaction Lab

Publications

Articles in journals | Books | Chapters in books | Conference papers | Doctoral theses, monographs |

Articles in journals

Bazzana, B. , Andreasson, H. & Grisetti, G. (2024). How-to Augmented Lagrangian on Factor Graphs. IEEE Robotics and Automation Letters, 9 (3), 2806-2813.
Liao, Q. , Sun, D. , Zhang, S. , Loutfi, A. & Andreasson, H. (2023). Fuzzy Cluster-based Group-wise Point Set Registration with Quality Assessment. IEEE Transactions on Image Processing, 32, 550-564.
Adolfsson, D. , Magnusson, M. , Alhashimi, A. , Lilienthal, A. & Andreasson, H. (2023). Lidar-Level Localization With Radar? The CFEAR Approach to Accurate, Fast, and Robust Large-Scale Radar Odometry in Diverse Environments. IEEE Transactions on robotics, 39 (2), 1476-1495.
Gupta, H. , Lilienthal, A. , Andreasson, H. & Kurtser, P. (2023). NDT-6D for color registration in agri-robotic applications. Journal of Field Robotics, 40 (6), 1603-1619.
Gupta, H. , Andreasson, H. , Lilienthal, A. J. & Kurtser, P. (2023). Robust Scan Registration for Navigation in Forest Environment Using Low-Resolution LiDAR Sensors. Sensors, 23 (10).
Adolfsson, D. , Karlsson, M. , Kubelka, V. , Magnusson, M. & Andreasson, H. (2023). TBV Radar SLAM - Trust but Verify Loop Candidates. IEEE Robotics and Automation Letters, 8 (6), 3613-3620.
Molina, S. , Mannucci, A. , Magnusson, M. , Adolfsson, D. , Andreasson, H. , Hamad, M. , Abdolshah, S. , Chadalavada, R. T. & et al. (2023). The ILIAD Safety Stack: Human-Aware Infrastructure-Free Navigation of Industrial Mobile Robots. IEEE robotics & automation magazine.
Andreasson, H. , Larsson, J. & Lowry, S. (2022). A Local Planner for Accurate Positioning for a Multiple Steer-and-Drive Unit Vehicle Using Non-Linear Optimization. Sensors, 22 (7).
Seeburger, P. , Herdenstam, A. P. F. , Kurtser, P. , Arunachalam, A. , Castro Alves, V. , Hyötyläinen, T. & Andreasson, H. (2022). Controlled mechanical stimuli reveal novel associations between basil metabolism and sensory quality. Food Chemistry, 404 (Pt A).
Adolfsson, D. , Castellano-Quero, M. , Magnusson, M. , Lilienthal, A. J. & Andreasson, H. (2022). CorAl: Introspection for robust radar and lidar perception in diverse environments using differential entropy. Robotics and Autonomous Systems, 155.
Liao, Q. , Sun, D. & Andreasson, H. (2022). FuzzyPSReg: Strategies of Fuzzy Cluster-based Point Set Registration. IEEE Transactions on robotics, 38 (4), 2632-2651.
Arunachalam, A. & Andreasson, H. (2022). MSI-RPi: Affordable, Portable, and Modular Multispectral Imaging Prototype Suited to Operate in UV, Visible and Mid-Infrared Regions. Journal of Mobile Multimedia, 18 (3), 723-742.
Arunachalam, A. & Andreasson, H. (2022). RaspberryPi‐Arduino (RPA) powered smart mirrored and reconfigurable IoT facility for plant science research. Internet Technology Letters, 5 (1).
Kurtser, P. , Castro Alves, V. , Arunachalam, A. , Sjöberg, V. , Hanell, U. , Hyötyläinen, T. & Andreasson, H. (2021). Development of novel robotic platforms for mechanical stress induction, and their effects on plant morphology, elements, and metabolism. Scientific Reports, 11 (1).
Paul, S. , Arunachalam, A. , Khodadad, D. , Andreasson, H. & Rubanenko, O. (2021). Fuzzy Tuned PID Controller for Envisioned Agricultural Manipulator. International Journal of Automation and Computing, 18 (4), 568-580.
Forte, P. , Mannucci, A. , Andreasson, H. & Pecora, F. (2021). Online Task Assignment and Coordination in Multi-Robot Fleets. IEEE Robotics and Automation Letters, 6 (3), 4584-4591.
Liao, Q. , Sun, D. & Andreasson, H. (2021). Point Set Registration for 3D Range Scans Using Fuzzy Cluster-based Metric and Efficient Global Optimization. IEEE Transactions on Pattern Analysis and Machine Intelligence, 43 (9), 3229-3246.
Arunachalam, A. & Andreasson, H. (2021). Real-time plant phenomics under robotic farming setup: A vision-based platform for complex plant phenotyping tasks. Computers & electrical engineering, 92.
Chadalavada, R. T. , Andreasson, H. , Schindler, M. , Palm, R. & Lilienthal, A. J. (2020). Bi-directional navigation intent communication using spatial augmented reality and eye-tracking glasses for improved safety in human-robot interaction. Robotics and Computer-Integrated Manufacturing, 61.
Della Corte, B. , Andreasson, H. , Stoyanov, T. & Grisetti, G. (2019). Unified Motion-Based Calibration of Mobile Multi-Sensor Platforms With Time Delay Estimation. IEEE Robotics and Automation Letters, 4 (2), 902-909.
Lowry, S. & Andreasson, H. (2018). Lightweight, Viewpoint-Invariant Visual Place Recognition in Changing Environments. IEEE Robotics and Automation Letters, 3 (2), 957-964.
Rituerto, A. , Andreasson, H. , Murillo, A. C. , Lilienthal, A. & Jesus Guerrero, J. (2016). Building an Enhanced Vocabulary of the Robot Environment with a Ceiling Pointing Camera. Sensors, 16 (4).
Mansouri, M. , Andreasson, H. & Pecora, F. (2016). Hybrid Reasoning for Multi-robot Drill Planning in Open-pit Mines. Acta Polytechnica, 56 (1), 47-56.
Krug, R. , Stoyanov, T. , Tincani, V. , Andreasson, H. , Mosberger, R. , Fantoni, G. & Lilienthal, A. J. (2016). The Next Step in Robot Commissioning: Autonomous Picking and Palletizing. IEEE Robotics and Automation Letters, 1 (1), 546-553.
Andreasson, H. , Bouguerra, A. , Cirillo, M. , Dimitrov, D. N. , Driankov, D. , Karlsson, L. , Lilienthal, A. J. , Pecora, F. & et al. (2015). Autonomous transport vehicles: where we are and what is missing. IEEE robotics & automation magazine, 22 (1), 64-75.
Mosberger, R. , Andreasson, H. & Lilienthal, A. J. (2014). A customized vision system for tracking humans wearing reflective safety clothing from industrial vehicles and machinery. Sensors, 14 (10), 17952-17980.
Andreasson, H. , Saarinen, J. , Cirillo, M. , Stoyanov, T. & Lilienthal, A. (2014). Drive the Drive: From Discrete Motion Plans to Smooth Drivable Trajectories. Robotics, 3 (4), 400-416.
Saarinen, J. , Andreasson, H. , Stoyanov, T. & Lilienthal, A. J. (2013). 3D normal distributions transform occupancy maps: an efficient representation for mapping in dynamic environments. The international journal of robotics research, 32 (14), 1627-1644.
Stoyanov, T. , Mojtahedzadeh, R. , Andreasson, H. & Lilienthal, A. J. (2013). Comparative evaluation of range sensor accuracy for indoor mobile robotics and automated logistics applications. Robotics and Autonomous Systems, 61 (10), 1094-1105.
Stoyanov, T. , Magnusson, M. , Lilienthal, A. J. & Andreasson, H. (2012). Fast and accurate scan registration through minimization of the distance between compact 3D NDT Representations. The international journal of robotics research, 31 (12), 1377-1393.
Andreasson, H. & Lilienthal, A. J. (2010). 6D scan registration using depth-interpolated local image features. Robotics and Autonomous Systems, 58 (2), 157-165.
Magnusson, M. , Andreasson, H. , Nüchter, A. & Lilienthal, A. J. (2009). Automatic appearance-based loop detection from three-dimensional laser data using the normal distributions transform. Journal of Field Robotics, 26 (11-12), 892-914.
Andreasson, H. , Duckett, T. & Lilienthal, A. J. (2008). A Minimalistic Approach to Appearance-Based Visual SLAM. IEEE Transactions on Robotics, 24 (5), 991-1001.
Andreasson, H. , Treptow, A. & Duckett, T. (2007). Self-localization in non-stationary environments using omni-directional vision. Robotics and Autonomous Systems, 55 (7), 541-551.
Tamimi, H. , Andreasson, H. , Treptow, A. , Duckett, T. & Zell, A. (2006). Localization of mobile robots with omnidirectional vision using Particle Filter and iterative SIFT. Robotics and Autonomous Systems, 54 (9), 758-765.

Books

Andreasson, H. (2009). Camera based navigation by mobile robots: local visual feature based localisation and mapping. Saarbrücken: VDM Verlag Dr. Müller Aktiengesellschaft & Co. KG.

Chapters in books

Mosberger, R. & Andreasson, H. (2014). Estimating the 3D Position of Humans Wearing a Reflective Vest Using a Single Camera System. In: Yoshida, Kazuya, Tadokoro, Satoshi, Field and Service Robotics: Results of the 8th International Conference (pp. 143-157). . Springer Berlin/Heidelberg.
Andreasson, H. , Bouguerra, A. , Åstrand, B. & Rögnvaldsson, T. (2014). Gold-Fish SLAM: An Application of SLAM to Localize AGVs. In: Yoshida, Kazuya; Tadokoro, Satoshi, Field and Service Robotics: Results of the 8th International Conference (pp. 585-598). Heidelberg, Germany: Springer Berlin/Heidelberg.

Conference papers

Gupta, H. , Andreasson, H. , Magnusson, M. , Julier, S. & Lilienthal, A. J. (2023). Revisiting Distribution-Based Registration Methods. In: Marques, L.; Markovic, I., 2023 European Conference on Mobile Robots (ECMR). Paper presented at 11th European Conference on Mobile Robots (ECMR 2023), Coimbra, Portugal, September 4-7, 2023. (pp. 43-48). IEEE.
Machado, T. , Fassbender, D. , Taheri, A. , Eriksson, D. , Gupta, H. , Molaei, A. , Forte, P. , Rai, P. & et al. (2021). Autonomous Heavy-Duty Mobile Machinery: A Multidisciplinary Collaborative Challenge. In: Proceedings of the IEEE ICTE Leading Digital Transformation in Business and Society Conference. Paper presented at 2021 IEEE International Conference on Technology and Entrepreneurship (ICTE 2021), Kaunas, Lithuania, August 24-27, 2021. IEEE.
Alhashimi, A. , Adolfsson, D. , Magnusson, M. , Andreasson, H. & Lilienthal, A. (2021). BFAR – Bounded False Alarm Rate detector for improved radar odometry estimation. Paper presented at ICRA.
Adolfsson, D. , Magnusson, M. , Alhashimi, A. , Lilienthal, A. & Andreasson, H. (2021). CFEAR Radarodometry - Conservative Filtering for Efficient and Accurate Radar Odometry. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021). Paper presented at IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021), Prague, Czech Republic, (Online Conference), September 27 - October 1, 2021. (pp. 5462-5469). IEEE.
Forte, P. , Mannucci, A. , Andreasson, H. & Pecora, F. (2021). Construction Site Automation: Open Challenges for Planning and Robotics. In: Proceedings of the 9th ICAPS Workshop on Planning and Robotics (PlanRob). Paper presented at 9th ICAPS Workshop on Planning and Robotics (PlanRob), (Online Workshop), August 4-5, 2021.
Adolfsson, D. , Magnusson, M. , Liao, Q. , Lilienthal, A. & Andreasson, H. (2021). CorAl – Are the point clouds Correctly Aligned?. In: 10th European Conference on Mobile Robots (ECMR 2021). Paper presented at 10th European Conference on Mobile Robots (ECMR 2021), Bonn, Germany, (Online Conference), August 31 - September 3, 2021. IEEE.
Adolfsson, D. , Magnusson, M. , Alhashimi, A. , Lilienthal, A. & Andreasson, H. (2021). Oriented surface points for efficient and accurate radar odometry. Paper presented at Radar Perception for All-Weather Autonomy - Half-Day Workshop at 2021 IEEE International Conference on Robotics and Automation (ICRA 2021), Xi'an, China, May 30 - June 5, 2021.
Sun, L. , Adolfsson, D. , Magnusson, M. , Andreasson, H. , Posner, I. & Duckett, T. (2020). Localising Faster: Efficient and precise lidar-based robot localisation in large-scale environments. In: 2020 IEEE International Conference on Robotics and Automation (ICRA). Paper presented at 2020 IEEE International Conference on Robotics and Automation (ICRA), Paris, France, May 31 - August 31, 2020. (pp. 4386-4392). IEEE.
Kurtser, P. , Ringdahl, O. , Rotstein, N. & Andreasson, H. (2020). PointNet and geometric reasoning for detection of grape vines from single frame RGB-D data in outdoor conditions. In: Proceedings of the Northern Lights Deep Learning Workshop. Paper presented at 3rd Northern Lights Deep Learning Workshop, Tromsö, Norway 20-21 January, 2019. (pp. 1-6). NLDL.
Kurtser, P. , Hanell, U. & Andreasson, H. (2020). Robotic Platform for Precise Mechanical Stress Induction in Greenhouses Cultivation. In: 2020 IEEE 16th International Conference on Automation Science and Engineering (CASE). Paper presented at IEEE 16th International Conference on Automation Science and Engineering (CASE), (Online Zoom Meeting), Hong Kong, August 20-21, 2020. (pp. 1558-1565). IEEE.
Adolfsson, D. , Lowry, S. , Magnusson, M. , Lilienthal, A. J. & Andreasson, H. (2019). A Submap per Perspective: Selecting Subsets for SuPer Mapping that Afford Superior Localization Quality. In: 2019 European Conference on Mobile Robots (ECMR). Paper presented at European Conference on Mobile Robotics (ECMR), Prague, Czech Republic, September 4-6, 2019. IEEE.
Chadalavada, R. T. , Andreasson, H. , Schindler, M. & Lilienthal, A. J. (2019). Implicit intention transference using eye-tracking glasses for improved safety in human-robot interaction. Paper presented at International Conference on Social Robotics - Quality of Interaction in Socially Assistive Robots Workshop, Madrid, Spain, November 26th-29th, 2019.
Pecora, F. , Andreasson, H. , Mansouri, M. & Petkov, V. (2018). A Loosely-Coupled Approach for Multi-Robot Coordination, Motion Planning and Control, ICAPS. In: Mathijs de Weerdt, Sven Koenig, Gabriele Röger, Matthijs Spaan, Proceedings of the International Conference on Automated Planning and Scheduling. Paper presented at International Conference on Automated Planning and Scheduling (ICAPS 2018), Delft, The Netherland, June 24-29, 2018. (pp. 485-493). Delft, The Netherlands: AAAI Press.
Chadalavada, R. T. , Andreasson, H. , Schindler, M. , Palm, R. & Lilienthal, A. (2018). Accessing your navigation plans! Human-Robot Intention Transfer using Eye-Tracking Glasses. In: Case K. &Thorvald P., Advances in Manufacturing Technology XXXII Proceedings of the 16th International Conference on Manufacturing Research, incorporating the 33rd National Conference on Manufacturing Research, September 11–13, 2018, University of Skövde, Sweden. Paper presented at 16th International Conference on Manufacturing Research, incorporating the 33rd National Conference on Manufacturing Research, University of Skövde, Sweden, September 11–13, 2018. (pp. 253-258). Amsterdam, Netherlands: IOS Press.
Adolfsson, D. , Lowry, S. & Andreasson, H. (2018). Improving Localisation Accuracy using Submaps in warehouses. Paper presented at IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), Workshop on Robotics for Logistics in Warehouses and Environments Shared with Humans, Madrid, Spain, October 5, 2018.
Lowry, S. & Andreasson, H. (2018). LOGOS: Local geometric support for high-outlier spatial verification. Paper presented at IEEE International Conference of Robotics and Automation (ICRA 2018), Brisbane, Australia, May 21-25, 2018. (pp. 7262-7269). IEEE Computer Society.
Andreasson, H. , Adolfsson, D. , Stoyanov, T. , Magnusson, M. & Lilienthal, A. (2017). Incorporating Ego-motion Uncertainty Estimates in Range Data Registration. In: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Paper presented at IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017), Vancouver, Canada, September 24–28, 2017. (pp. 1389-1395). Institute of Electrical and Electronics Engineers (IEEE).
Magnusson, M. , Kucner, T. P. , Gholami Shahbandi, S. , Andreasson, H. & Lilienthal, A. (2017). Semi-Supervised 3D Place Categorisation by Descriptor Clustering. In: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Paper presented at 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017) Vancouver, Canada, September 24–28, 2017. (pp. 620-625). Institute of Electrical and Electronics Engineers (IEEE).
Mielle, M. , Magnusson, M. , Andreasson, H. & Lilienthal, A. J. (2017). SLAM auto-complete: completing a robot map using an emergency map. In: 2017 IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR). Paper presented at 15th IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR 2017), ShanghaiTech University, China, October 11-13, 2017. (pp. 35-40). IEEE conference proceedings.
Mielle, M. , Magnusson, M. , Andreasson, H. & Lilienthal, A. (2017). Using emergency maps to add not yet explored places into SLAM. Paper presented at 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, Canada, September 24-28, 2017.
Chadalavada, R. T. , Andreasson, H. , Krug, R. & Lilienthal, A. (2016). Empirical evaluation of human trust in an expressive mobile robot. In: Proceedings of RSS Workshop "Social Trust in Autonomous Robots 2016". Paper presented at RSS Workshop "Social Trust in Autonomous Robots 2016", June 19, 2016.
Mosberger, R. , Schaffernicht, E. , Andreasson, H. & Lilienthal, A. J. (2016). Inferring human body posture information from reflective patterns of protective work garments. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Paper presented at IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Daejeon, Korea, October 9-14, 2016. (pp. 4131-4136). Institute of Electrical and Electronics Engineers (IEEE).
Bunz, E. , Chadalavada, R. T. , Andreasson, H. , Krug, R. , Schindler, M. & Lilienthal, A. (2016). Spatial Augmented Reality and Eye Tracking for Evaluating Human Robot Interaction. In: Proceedings of RO-MAN 2016 Workshop Workshop on Communicating Intentions in Human-Robot Interaction. Paper presented at RO-MAN 2016 Workshop: Workshop on Communicating Intentions in Human-Robot Interaction, New York, USA, Aug 31, 2016.
Siddiqui, J. R. , Andreasson, H. , Driankov, D. & Lilienthal, A. J. (2016). Towards visual mapping in industrial environments: a heterogeneous task-specific and saliency driven approach. In: 2016 IEEE International Conference on Robotics and Automation (ICRA). Paper presented at IEEE International Conference on Robotics and Automation (ICRA, Stockholm, Sweden, May 16-21, 2016. (pp. 5766-5773). Institute of Electrical and Electronics Engineers (IEEE).
Lowry, S. & Andreasson, H. (2016). Visual place recognition techniques for pose estimation in changing environments. In: Visual Place Recognition: What is it Good For? workshop, Robotics Science and Systems (RSS) 2016. Paper presented at Visual Place Recognition: What is it Good For? workshop, Robotics: Science and Systems (RSS) 2016, Ann Arbor, MI, USA, 19 June, 2016.
Andreasson, H. , Saarinen, J. , Cirillo, M. , Stoyanov, T. & Lilienthal, A. (2015). Fast, continuous state path smoothing to improve navigation accuracy. In: IEEE International Conference on Robotics and Automation (ICRA), 2015. Paper presented at 2015 IEEE International Conference on Robotics and Automation (ICRA), Seattle, WA, USA, May 26-30, 2015. (pp. 662-669). IEEE Computer Society.
Mosberger, R. , Leibe, B. , Andreasson, H. & Lilienthal, A. (2015). Multi-band Hough Forests for detecting humans with Reflective Safety Clothing from mobile machinery. In: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA). Paper presented at 2015 IEEE International Conference on Robotics and Automation (ICRA), Seattle, United States, May 26-30, 2015. (pp. 697-703). IEEE Computer Society.
Krug, R. , Stoyanov, T. , Tincani, V. , Andreasson, H. , Mosberger, R. , Fantoni, G. , Bicchi, A. & Lilienthal, A. (2015). On Using Optimization-based Control instead of Path-Planning for Robot Grasp Motion Generation. In: IEEE International Conference on Robotics and Automation (ICRA) - Workshop on Robotic Hands, Grasping, and Manipulation. Paper presented at IEEE International Conference on Robotics and Automation (ICRA) - Workshop on Robotic Hands, Grasping, and Manipulation, Washington, USA, May 26-30, 2015.
Chadalavada, R. T. , Andreasson, H. , Krug, R. & Lilienthal, A. (2015). That’s on my Mind!: Robot to Human Intention Communication through on-board Projection on Shared Floor Space. In: 2015 European Conference on Mobile Robots (ECMR). Paper presented at 7th European Conference on Mobile Robots (ECMR), Lincoln, Lincolnshire, United Kingdom, September 2-4, 2015. New York: IEEE conference proceedings.
Mansouri, M. , Andreasson, H. & Pecora, F. (2015). Towards Hybrid Reasoning for Automated Industrial Fleet Management. In: 24th International Joint Conference on Artificial Intelligence, Workshop on Hybrid Reasoning. Paper presented at 24th International Joint Conference on Artificial Intelligence (IJCAI), Buenos Aires, Argentina, 25-31 July, 2015. AAAI Press.
Cirillo, M. , Pecora, F. , Andreasson, H. , Uras, T. & Koenig, S. (2014). Integrated Motion Planning and Coordination for Industrial Vehicles. In: Proceedings of the 24th International Conference on Automated Planning and Scheduling. Paper presented at International Conference on Automated Planning and Scheduling (ICAPS). AAAI Press.
Valencia, R. , Saarinen, J. , Andreasson, H. , Vallvé, J. , Andrade-Cetto, J. & Lilienthal, A. J. (2014). Localization in highly dynamic environments using dual-timescale NDT-MCL. In: 2014 IEEE International Conference on Robotics and Automation (ICRA). Paper presented at IEEE International Conference on Robotics and Automation (ICRA), Hongkong, China, May 31 - June 7, 2014. (pp. 3956-3962). IEEE Robotics and Automation Society.
Mosberger, R. & Andreasson, H. (2013). An Inexpensive Monocular Vision System for Tracking Humans in Industrial Environments. In: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA). Paper presented at 2013 IEEE International Conference on Robotics and Automation (ICRA) Karlsruhe, Germany, May 6-10, 2013. (pp. 5850-5857). IEEE conference proceedings.
Saarinen, J. , Stoyanov, T. , Andreasson, H. & Lilienthal, A. J. (2013). Fast 3D mapping in highly dynamic environments using normal distributions transform occupancy maps. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Paper presented at EEE/RSJ International Conference on Intelligent Robots and Systems (IROS). (pp. 4694-4701). IEEE.
Mosberger, R. , Andreasson, H. & Lilienthal, A. J. (2013). Multi-human Tracking using High-visibility Clothing for Industrial Safety. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Paper presented at 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) November 3-7, 2013. Tokyo, Japan. (pp. 638-644).
Saarinen, J. , Andreasson, H. , Stoyanov, T. & Lilienthal, A. J. (2013). Normal distributions transform monte-carlo localization (NDT-MCL). In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Paper presented at IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). (pp. 382-389). IEEE.
Stoyanov, T. , Saarinen, J. , Andreasson, H. & Lilienthal, A. J. (2013). Normal distributions transform occupancy map fusion: simultaneous mapping and tracking in large scale dynamic environments. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Paper presented at IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). (pp. 4702-4708). IEEE.
Saarinen, J. , Andreasson, H. , Stoyanov, T. , Ala-Luhtala, J. & Lilienthal, A. J. (2013). Normal distributions transform occupancy maps: application to large-scale online 3D mapping. In: IEEE International Conference on Robotics and Automation. Paper presented at IEEE International Conference on Robotics and Automation, Karlsruhe, Germany, May 6-10, 2013. (pp. 2233-2238). New York: IEEE conference proceedings.
Mosberger, R. & Andreasson, H. (2012). Estimating the 3d position of humans wearing a reflective vest using a single camera system. In: Proceedings of the International Conference on Field and Service Robotics (FSR). Paper presented at 2012 International Conference on Field and Service Robotics (FSR). Springer:
Andreasson, H. , Bouguerra, A. , Åstrand, B. & Rögnvaldsson, T. (2012). Gold-fish SLAM: an application of SLAM to localize AGVs. In: Proceedings of the International Conference on Field and Service Robotics (FSR), July 2012.. Paper presented at International Conference on Field and Service Robotics (FSR), July 2012.
Saarinen, J. , Andreasson, H. & Lilienthal, A. (2012). Independent Markov Chain Occupancy Grid Maps for Representation of Dynamic Environments. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems. Paper presented at IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS), Vilamoura, Portugal, 7-12 October, 2012. (pp. 3489-3495). New York, USA: IEEE.
Andreasson, H. & Stoyanov, T. (2012). Real time registration of RGB-D data using local visual features and 3D-NDT registration. In: Proc. of International Conference on Robotics and Automation (ICRA) Workshop on Semantic Perception, Mapping and Exploration (SPME). Paper presented at Semantic Perception, Mapping and Exploration Workshop (SPME 2012) at the IEEE International Conference on Robotics and Automation (ICRA 2012), St. Paul, MI, USA, May 14, 2012. IEEE.
Stoyanov, T. , Louloudi, A. , Andreasson, H. & Lilienthal, A. J. (2011). Comparative evaluation of range sensor accuracy in indoor environments. In: Achim J. Lilienthal, Tom Duckett, Proceedings of the 5th European Conference on Mobile Robots, ECMR 2011. Paper presented at 5th European Conference on Mobile Robots,ECMR 2011, September 7-9, 2011, Örebro, Sweden. (pp. 19-24).
Stoyanov, T. , Magnusson, M. , Andreasson, H. & Lilienthal, A. J. (2010). Path planning in 3D environments using the normal distributions transform. In: IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems (IROS 2010). Paper presented at IEEE/RSJ International Conference on Intelligent Robots and Systems, Taipei, Taiwan Oct 18-22, 2010. (pp. 3263-3268). IEEE conference proceedings.
Åstrand, B. , Rögnvaldsson, T. , Bouguerra, A. , Andreasson, H. & Lilienthal, A. J. (2009). An Autonomous Robotic System for Load Transportation. In: Proceedings of the 4th Swedish Workshop on Autonomous Robotics (SWAR).
Bouguerra, A. , Andreasson, H. , Lilienthal, A. J. , Åstrand, B. & Rögnvaldsson, T. (2009). An autonomous robotic system for load transportation. In: 2009 IEEE Conference on Emerging Technologies & Factory Automation (EFTA 2009). Paper presented at 14th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA), Univ Balear Isl, Mallorca, Spain, September 22-25, 2009. (pp. 1563-1566). New York: IEEE conference proceedings.
Magnusson, M. , Andreasson, H. , Nüchter, A. & Lilienthal, A. J. (2009). Appearance-based loop detection from 3D laser data using the normal distributions transform. In: IEEE International Conference on Robotics and Automation 2009 (ICRA '09). Paper presented at IEEE International Conference on Robotics and Automation, 2009 (ICRA '09), Kobe, Japan, May 12-17, 2009. (pp. 23-28). IEEE conference proceedings.
Bouguerra, A. , Andreasson, H. , Lilienthal, A. J. , Åstrand, B. & Rögnvaldsson, T. (2009). MALTA: a system of multiple autonomous trucks for load transportation. In: Ivan Petrovic, Achim J. Lilienthal, Proceedings of the 4th European conference on mobile robots (ECMR). Paper presented at Proceedings of the 4th European conference on mobile robots, ECMR'09, September 23 – 25, 2009, Mlini/Dubrovnik, Croatia. (pp. 93-98).
Andreasson, H. , Magnusson, M. & Lilienthal, A. (2007). Has something changed here?: Autonomous difference detection for security patrol robots. In: 2007 IEEE/RSJ international conference on intelligent robots and systems. Paper presented at IEEE/RSJ international conference on intelligent robots and systems, 2007, IROS-2007, San Diego, USA, Oct. 29-Nov. 02, 2007. (pp. 3429-3435). New York, NY, USA: IEEE.
Andreasson, H. , Duckett, T. & Lilienthal, A. J. (2007). Mini-SLAM: minimalistic visual SLAM in large-scale environments based on a new interpretation of image similarity. In: 2007 IEEE international conference on robotics and automation (ICRA). Paper presented at 2007 IEEE international conference on robotics and automation (ICRA), Rome, Italy, 10-14 April, 2007. (pp. 4096-4101). New York, NY, USA: IEEE.
Andreasson, H. , Triebel, R. & Lilienthal, A. J. (2007). Non-iterative Vision-based Interpolation of 3D Laser Scans. In: Mukhopadhyay, SC, Gupta, GS, Autonomos Agents and Robots. Paper presented at 3rd International Conference on Autonomous Robots and Agents, Palmerston, New Zealand, Dec. 11-14, 2006. (pp. 83-90). Berlin/Heidelberg, Germany: Springer.
Andreasson, H. & Lilienthal, A. (2007). Vision aided 3D laser scanner based registration. In: ECMR 2007 Proceedings of the European Conference on Mobile Robots. Paper presented at 3rd European conference on mobile robots, ECMR '07, Freiburg, Germany, September 19-21, 2007. (pp. 192-197).
Andreasson, H. , Lilienthal, A. J. & Triebel, R. (2006). Vision based interpolation of 3D laser scans. In: Proceedings of the Third International Conference on Autonomous Robots and Agents. Paper presented at Third International Conference on Autonomous Robots and Agents, ICARA 2006, 12-14 December, Palmerston North, New Zeeland. (pp. 455-460).
Andreasson, H. , Triebel, R. & Burgard, W. (2005). Improving plane extraction from 3D data by fusing laser data and vision. In: 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2005. (IROS 2005) IROS 2005 IEEE/RSJ. Paper presented at 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2005, (IROS 2005), Edmonton, Alberta, Canada, 2-6 Aug. 2005. (pp. 2656-2661).
Andreasson, H. , Treptow, A. & Duckett, T. (2005). Localization for mobile robots using panoramic vision, local features and particle filter. In: Proceedings of the 2005 IEEE International Converence on Robotics and Automation ICRA - 2005. Paper presented at IEEE International Converence on Robotics and Automation, ICRA-2005, Barcelona, Spain, 18-22 April 2005. (pp. 3348-3353).
Tamimi, H. , Andreasson, H. , Treptow, A. , Duckett, T. & Zell, A. (2005). Localization of mobile robots with omnidirectional vision using particle filter and iterative SIFT. Paper presented at 2nd European Conference on Mobile Robots, ECMR 2005, Ancona, Italy.
Fleck, S. , Busch, F. , Biber, P. , Strasser, W. & Andreasson, H. (2005). Omnidirectional 3D modeling on a mobile robot using graph cuts. In: Proceedings of the 2005 IEEE International Converence on Robotics and Automation ICRA - 2005. Paper presented at IEEE International Converence on Robotics and Automation, ICRA-2005, Barcelona, Spain, 18-22 April 2005. (pp. 1748-1754).

Doctoral theses, monographs

Andreasson, H. (2008). Local visual feature based localisation and mapping by mobile robots. (Doctoral dissertation). Örebro: Örebro universitet.