Martin Magnusson
Title: Senior Lecturer School/office: School of Science and Technology
Email:
Phone: +46 19 303870
Room: T1216
Research subject
Research environments
About Martin Magnusson
I am a researcher with the Mobile Robotics and Olfaction lab at the AASS research centre.
Research
My main research is concerned with localisation and mapping with 3D perception for mobile robots, and in particular efficient and versatile 3D surface representations. In the past I have investigated 3D scan registration and mobile-robot applications such as localisation, loop detection, and semantic analysis of 3D scenes. I have also been investigating methods for using 3D perception in autoloading of piled materials in construction and mining applications.
More recently, my research also includes mapping methods that go beyond mere geometry, and methods for making use of maps with high uncertainty. I have a particular interest in quantitative quality measures of maps and the methods that are used when constructing them, as well as maps of dynamics and flow, and the use of heterogeneous map data (e.g. hand-drawn sketh maps) In robotics.
I support the international committee for robot arms control and the campaign to stop autonomous military robots.
Teaching
I teach Introduction to Robotics and Intelligent Systems, Computer Graphics, and Imperative Programming.
Research projects
- AIR - Action and Intention Recognition in Human Interaction with Autonomous Systems
- ALL-4-eHam - Fully Autonomous WheeL Loaders for efficient HAndling of Heterogeneous Materials
- ALLO - Automomous Long-Term Load-Haul-Dump Operations
- Dynamic Agile Production Robots That Learn and Optimise Knowledge and Operations (DARKO)
- FIREM-II. Fire and Rescue in Mines II
- ILIAD: Intra-Logistics with Integrated Automatic Deployment for safe and scalable fleets in shared spaces
- NiCE: Robust Navigation in Changing Environments
- RobLog - Cognitive Robot for Automation of Logistic Processes
- SAUNA - Safe Autonomous Navigation
- SmokeBot - Mobile Robots with Novel Environmental Sensors for Inspection of Disaster Sites with Low Visibility
- SPENCER - Social Situation-aware Perception and Action for Cognitive Robots
Research teams
Publications
Articles in journals |
Books |
Chapters in books |
Conference papers |
Doctoral theses, monographs |
Licentiate theses, monographs |
Articles in journals
Alhashimi, A. , Magnusson, M. , Knorn, S.
& Varagnolo, D. (2021). Calibrating Range Measurements of Lidars Using Fixed Landmarks in Unknown Positions. Sensors, 21 (1).
Gholami Shahbandi, S.
& Magnusson, M. (2019). 2D map alignment with region decomposition. Autonomous Robots, 43 (5), 1117-1136.
Mielle, M. , Magnusson, M.
& Lilienthal, A. J. (2019). The Auto-Complete Graph: Merging and Mutual Correction of Sensor and Prior Maps for SLAM. Robotics, 8 (2).
Gabellieri, C. , Palleschi, A. , Mannucci, A. , Pierallini, M. , Stefanini, E. , Catalano, M. G. , Caporale, D. , Settimi, A.
& et al.
(2019). Towards an Autonomous Unwrapping System for Intralogistics. IEEE Robotics and Automation Letters, 4 (4), 4603-4610.
Mielle, M. , Magnusson, M.
& Lilienthal, A. J. (2019). URSIM: Unique Regions for Sketch Map Interpretation and Matching. Robotics, 8 (2).
Fan, H. , Kucner, T. P. , Magnusson, M. , Li, T.
& Lilienthal, A. (2018). A Dual PHD Filter for Effective Occupancy Filtering in a Highly Dynamic Environment. IEEE transactions on intelligent transportation systems (Print), 19 (9), 2977-2993.
Amigoni, F. , Yu, W. , Andre, T. , Holz, D. , Magnusson, M. , Matteucci, M. , Moon, H. , Yokozuka, M.
& et al.
(2018). A Standard for Map Data Representation: IEEE 1873-2015 Facilitates Interoperability Between Robots. IEEE robotics & automation magazine, 25 (1), 65-76.
Almqvist, H. , Magnusson, M. , Kucner, T. P.
& Lilienthal, A. (2018). Learning to detect misaligned point clouds. Journal of Field Robotics, 35 (5), 662-677.
Gholami Shahbandi, S. , Magnusson, M.
& Iagnemma, K. (2018). Nonlinear Optimization of Multimodal Two-Dimensional Map Alignment With Application to Prior Knowledge Transfer. IEEE Robotics and Automation Letters, 3 (3), 2040-2047.
Kucner, T. P. , Magnusson, M. , Schaffernicht, E. , Hernandez Bennetts, V. M.
& Lilienthal, A. J. (2017). Enabling Flow Awareness for Mobile Robots in Partially Observable Environments. IEEE Robotics and Automation Letters, 2 (2), 1093-1100.
Almqvist, H. , Magnusson, M.
& Lilienthal, A. J. (2014). Improving Point Cloud Accuracy Obtained from a Moving Platform for Consistent Pile Attack Pose Estimation. Journal of Intelligent and Robotic Systems, 75 (1), 101-128.
Stoyanov, T. , Magnusson, M.
& Lilienthal, A. J. (2013). Comparative evaluation of the consistency of three-dimensional spatial representations used in autonomous robot navigation. Journal of Field Robotics, 30 (2), 216-236.
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.
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.
Magnusson, M. , Lilienthal, A. J.
& Duckett, T. (2007). Scan registration for autonomous mining vehicles using 3D-NDT. Journal of Field Robotics, 24 (10), 803-827.
Books
Kucner, T. P. , Lilienthal, A. , Magnusson, M. , Palmieri, L.
& Swaminathan, C. S. (2020). Probabilistic Mapping of Spatial Motion Patterns for Mobile Robots. Springer International Publishing (Cognitive Systems Monographs 40).
Chapters in books
Kucner, T. P. , Lilienthal, A. , Magnusson, M. , Palmieri, L.
& Swaminathan, C. S. (2020). Closing Remarks.
In:
Probabilistic Mapping of Spatial Motion Patterns for Mobile Robots (pp. 143-151).
. Springer.
Kucner, T. P. , Lilienthal, A. , Magnusson, M. , Palmieri, L.
& Swaminathan, C. S. (2020). Introduction.
In:
Probabilistic Mapping of Spatial Motion Patterns for Mobile Robots (pp. 1-13).
. Springer.
Kucner, T. P. , Lilienthal, A. , Magnusson, M. , Palmieri, L.
& Swaminathan, C. S. (2020). Maps of Dynamics.
In:
Probabilistic Mapping of Spatial Motion Patterns for Mobile Robots (pp. 15-32).
. Springer.
Kucner, T. P. , Lilienthal, A. , Magnusson, M. , Palmieri, L.
& Swaminathan, C. S. (2020). Modelling Motion Patterns with Circular-Linear Flow Field Maps.
In:
Probabilistic Mapping of Spatial Motion Patterns for Mobile Robots (pp. 65-113).
. Springer.
Kucner, T. P. , Lilienthal, A. , Magnusson, M. , Palmieri, L.
& Swaminathan, C. S. (2020). Modelling Motion Patterns with Conditional Transition Map.
In:
Probabilistic Mapping of Spatial Motion Patterns for Mobile Robots (pp. 33-64).
. Springer.
Kucner, T. P. , Lilienthal, A. , Magnusson, M. , Palmieri, L.
& Swaminathan, C. S. (2020). Motion Planning Using MoDs.
In:
Probabilistic Mapping of Spatial Motion Patterns for Mobile Robots (pp. 115-141).
. Springer.
Kucner, T. P. , Magnusson, M. , Swaminathan, C. S. , Lilienthal, A.
& Palmieri, L. (2020). Preface.
In:
Probabilistic Mapping of Spatial Motion Patterns for Mobile Robots (pp. vii-x).
. Springer.
Conference papers
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.
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.
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.
Vintr, T. , Yan, Z. , Eyisoy, K. , Kubis, F. , Blaha, J. , Ulrich, J. , Swaminathan, C. S. , Molina, S.
& et al.
(2020). Natural Criteria for Comparison of Pedestrian Flow Forecasting Models.
In:
2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Paper presented at IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Las Vegas, NV, USA (Virtual), October 25-29, 2020 (pp. 11197-11204). IEEE Press.
Swaminathan, C. S. , Kucner, T. P. , Magnusson, M.
& Lilienthal, A. J. (2020). Quantitative Metrics for Execution-Based Evaluation of Human-Aware Global Motion Planning.
In:
HRI 2020 Workshop on Test Methods and Metrics for Effective HRI in Real World Human-Robot Teams. Paper presented at HRI 2020 Workshop on Test Methods and Metrics for Effective HRI in Real World Human-Robot Teams, Cambridge, UK, April 3, 2020..
Mielle, M. , Magnusson, M.
& Lilienthal, A. J. (2019). A comparative analysis of radar and lidar sensing for localization and mapping.
In:
2019 European Conference on Mobile Robots (ECMR). Paper presented at 9th European Conference on Mobile Robots (ECMR 2019), Prague, Czech Republic, September 4-6, 2019. 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.
Fan, H. , Lu, D. , Kucner, T. P. , Magnusson, M.
& Lilienthal, A. (2018). 2D Spatial Keystone Transform for Sub-Pixel Motion Extraction from Noisy Occupancy Grid Map.
In:
Proceedings of 21st International Conference on Information Fusion (FUSION). Paper presented at 21st International Conference on Information Fusion (FUSION), Cambridge, UK, July 10 - 13, 2018 (pp. 2400-2406).
Mielle, M. , Magnusson, M.
& Lilienthal, A. J. (2018). A method to segment maps from different modalities using free space layout MAORIS: map of ripples segmentation.
Paper presented at IEEE International Conference on Robotics and Automation (ICRA 2018), Brisbane, Australia, May 21-25, 2018 (pp. 4993-4999). IEEE Computer Society.
Swaminathan, C. S. , Kucner, T. P. , Magnusson, M. , Palmieri, L.
& Lilienthal, A. (2018). Down the CLiFF: Flow-Aware Trajectory Planning under Motion Pattern Uncertainty.
In:
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Paper presented at 31st IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, October 1-5, 2018 (pp. 7403-7409). Institute of Electrical and Electronics Engineers (IEEE).
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).
Palmieri, L. , Kucner, T. , Magnusson, M. , Lilienthal, A. J.
& Arras, K. (2017). Kinodynamic Motion Planning on Gaussian Mixture Fields.
In:
IEEE International Conference on Robotics and Automation (ICRA 2017). Paper presented at IEEE International Conference on Robotics and Automation (ICRA 2017), Singapore, May 29 - June 03, 2017 (pp. 6176-6181). IEEE.
Zaganidis, A. , Magnusson, M. , Duckett, T.
& Cielniak, G. (2017). Semantic-assisted 3D Normal Distributions Transform for scan registration in environments with limited structure.
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. 4064-4069). IEEE Robotics and Automation Society.
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.
Triebel, R. , Arras, K. , Alami, R. , Beyer, L. , Breuers, S. , Chatila, R. , Chetouani, M. , Cremers, D.
& et al.
(2016). SPENCER: A Socially Aware Service Robot for Passenger Guidance and Help in Busy Airports.
In:
David S. Wettergreen, Timothy D. Barfoot, Field and Service Robotics Results of the 10th International Conference. Paper presented at 10th International Conference on Field and Service Robotics (FSR), Toronto, Canada, June 23-26, 2015 (pp. 607-622). Springer.
Kucner, T. , Magnusson, M. , Schaffernicht, E. , Hernandez Bennetts, V.
& Lilienthal, A. (2016). Tell me about dynamics!: Mapping velocity fields from sparse samples with Semi-Wrapped Gaussian Mixture Models.
In:
Robotics Science and Systems Conference (RSS 2016). Paper presented at Robotics: Science and Systems Conference (RSS 2016), Workshop: Geometry and Beyond - Representations, Physics, and Scene Understanding for Robotics, University of Michigan, Ann Arbor, Ml, USA, June 18-22, 2016.
Mielle, M. , Magnusson, M.
& Lilienthal, A. J. (2016). Using sketch-maps for robot navigation: interpretation and matching.
In:
2016 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR). Paper presented at 14th IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR 2016), EPFL, Lausanne, Switzerland, October 23-27, 2016 (pp. 252-257). New York: Institute of Electrical and Electronics Engineers (IEEE).
Magnusson, M. , Vaskevicius, N. , Stoyanov, T. , Pathak, K.
& Birk, A. (2015). Beyond points: Evaluating recent 3D scan-matching algorithms.
In:
2015 IEEE International Conference on Robotics and Automation (ICRA). Paper presented at 2015 IEEE International Conference on Robotics and Automation (ICRA), Seattle, USA, May 26-30, 2015 (pp. 3631-3637). IEEE conference proceedings.
Magnusson, M. , Kucner, T.
& Lilienthal, A. J. (2015). Quantitative Evaluation of Coarse-To-Fine Loading Strategies for Material Rehandling.
In:
Proceedings of the IEEE International Conference on Automation Science and Engineering (CASE). Paper presented at IEEE International Conference on Automation Science and Engineering (CASE), Gothenburg, Sweden, August 24-28, 2015 (pp. 450-455). New York: IEEE conference proceedings.
Kucner, T. P. , Magnusson, M.
& Lilienthal, A. J. (2015). Where am I?: An NDT-based prior for MCL.
In:
2015 European Conference on Mobile Robots (ECMR). Paper presented at 7th European Conference on Mobile Robots, Lincoln, England, September 2-4, 2015. New York: IEEE conference proceedings.
Kucner, T. , Sarinen, J. , Magnusson, M.
& Lilienthal, A. J. (2013). Conditional transition maps: learning motion patterns in dynamic environments.
In:
IEEE/RSJ International Conference on Intelligent Robots and Systems. Paper presented at IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 1196-1201). IEEE.
Almqvist, H. , Magnusson, M. , Stoyanov, T.
& Lilienthal, A. J. (2013). Improving Point-Cloud Accuracy from a Moving Platform in Field Operations.
In:
2013 IEEE International Conference on Robotics and Automation (ICRA). Paper presented at 2013 IEEE International Conference on Robotics and Automation (ICRA, 6-10 May, Karlsruhe (pp. 733-738). IEEE conference proceedings.
Stoyanov, T. , Magnusson, M.
& Lilienthal, A. J. (2012). Point Set Registration through Minimization of the L-2 Distance between 3D-NDT Models.
In:
2012 IEEE International Conference on Robotics and Automation (ICRA). Paper presented at 2012 IEEE International Conference on Robotics and Automation (ICRA), Saint Paul, MN, 14-18 May 2012 (pp. 5196-5201). IEEE conference proceedings.
Magnusson, M.
& Almqvist, H. (2011). Consistent pile-shape quantification for autonomous wheel loaders.
In:
2011 IEEE/RSJ International Conference on Intelligent Robots and Systems. Paper presented at IEEE/RSJ International Conference on Intelligent Robots and Systems SEP 25-30, 2011, San Francisco, CA (pp. 4078-4083). IEEE.
Stoyanov, T. , Magnusson, M. , Almqvist, H.
& Lilienthal, A. J. (2011). On the Accuracy of the 3D Normal Distributions Transform as a Tool for Spatial Representation.
In:
2011 IEEE International Conference on Robotics and Automation (ICRA). Paper presented at IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA),Shanghai, PEOPLES R CHINA,MAY 09-13, 2011.. IEEE conference proceedings.
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.
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.
Magnusson, M. , Nüchter, A. , Lörken, C. , Lilienthal, A. J.
& Hertzberg, J. (2009). Evaluation of 3D registration reliability and speed: a comparison of ICP and NDT.
In:
Proceedings of the 2009 IEEE international conference on Robotics and Automation, ICRA'09. Paper presented at 2009 IEEE International Conference on Robotics and Automation (ICRA'09), Kobe, Japan, May 12-17, 2009 (pp. 2263-2268). IEEE conference proceedings.
Magnusson, M. , Nüchter, A. , Lörken, C. , Lilienthal, A. J.
& Hertzberg, J. (2008). 3D mapping the Kvarntorp mine: a rield experiment for evaluation of 3D scan matching algorithms.
In:
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Workshop. Paper presented at IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Workshop "3D Mapping", Nice, France, September 2008.
Huhle, B. , Magnusson, M. , Straßer, W.
& Lilienthal, A. J. (2008). Registration of colored 3D point clouds with a Kernel-based extension to the normal distributions transform.
In:
2008 IEEE international conference on robotics and automation. Paper presented at IEEE international conference on robotics and automation, ICRA 2008, Pasadena, CA, USA, 19-23 May 2008 (pp. 4025-4030). New York, NY, USA: IEEE.
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.
Magnusson, M. , Duckett, T. , Elsrud, R.
& Skagerlund, L. (2005). 3D modelling for underground mining vehicles.
Paper presented at The Conference on Modeling and Simulation for Public Safety, SimSafe, 2005 Linköping, Sweden.
Magnusson, M.
& Duckett, T. (2005). A comparison of 3D registration algorithms for autonomous underground mining vehicles.
Paper presented at 2nd European Conference on Mobile Robots, ECMR 2005, Ancona, Italy, September 7-10.
Doctoral theses, monographs
Magnusson, M. (2009). The three-dimensional normal-distributions transform: an efficient representation for registration, surface analysis, and loop detection.
(Doctoral dissertation).
Örebro: Örebro universitet.
Licentiate theses, monographs
Magnusson, M. (2006). 3D Scan Matching for Mobile Robots with Application to Mine Mapping: Licentiate Thesis.
Lic.
Örebro University.