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Martin Magnusson

Position: Professor School/office: School of Science and Technology

Email: bWFydGluLm1hZ251c3NvbjtvcnUuc2U=

Phone: +46 19 303870

Room: T1222

Research subject

Computer Science

Research environments

About Martin Magnusson

I am currently head of unit for computer science, and leading the AASS research environment. I am also head of the Robot Navigation and Perception Lab within AASS.

Research

My research interests target robotics and AI, with a focus on advancing autonomous systems through innovations in 3D mapping and localisation, perception, as well as human-robot interaction. Early contributions include the development of the 3D Normal Distributions Transform (3D-NDT) and efficient methods for scan registration, localisation, and mapping in dynamic environments.

Recent work extends into radar-based mapping and navigation, as well as human-aware robots through predictive modelling in complex and shared environments. I have a particular interest in quantitative quality measures of maps and the methods that are used for constructing them, as well as maps of dynamics and flow, and the use of heterogeneous map data (e.g. hand-drawn sketch maps) in robotics.

How can we ensure robust autonomy all the way from sensing to reasoning? How can disparate sources of information be used to enhance autonomy of autonomous vehicles? How can we improve the way environment data is represented in order to facilitate more precise and more adaptive robots?

Teaching

I currently teach a course in Computer Graphics which covers principles and practice from the algebra needed to compute where a 3D object should be projected onto the screen and the coding required to do so, through models for how light scatters at surfaces of different materials, to photo-realistic rendering with ray tracing and path tracing.

In this course we also connect to relevant research from my group and the field at large, recently including e.g. radar simulation models and neural rendering.

I support the International Committee for Robot Arms Control (ICRAC) and the Campaign to Stop Killer Robots.

Active projects

Dynamic Agile Production Robots That Learn and Optimise Knowledge and Operations (DARKO)

Completed projects

Research groups

Robot Navigation and Perception Lab

Publications

Articles in journals

Castellano-Quero, M. , Kucner, T. P. & Magnusson, M. (2026). A Bayesian network framework based on Localization Risk Maps for anticipating and minimizing localization errors. Robotics and Autonomous Systems, 206. [BibTeX]
Araiza-Illan, D. , Baum, K. , Beebee, H. , Chatila, R. , Moth-Lund Christensen, S. , Coghlan, S. , Collins, E. , Conroy, S. K. & et al. (2025). A Roadmap for Responsible Robotics: Promoting Human Agency and Collaborative Efforts. IEEE robotics & automation magazine, 32 (4), 12-24. [BibTeX]
Zhu, Y. , Rudenko, A. , Kucner, T. P. , Lilienthal, A. J. & Magnusson, M. (2025). Long-Term Human Motion Prediction Using Spatio-Temporal Maps of Dynamics. IEEE Robotics and Automation Letters, 10 (11), 12229-12236. [BibTeX]
Mock, A. , Magnusson, M. & Hertzberg, J. (2025). RadaRays: Real-Time Simulation of Rotating FMCW Radar for Mobile Robotics via Hardware-Accelerated Ray Tracing. IEEE Robotics and Automation Letters, 10 (3), 2470-2477. [BibTeX]
Swaminathan, C. S. , Kucner, T. P. , Lilienthal, A. J. & Magnusson, M. (2025). Sampling functions for global motion planning using Maps of Dynamics for mobile robots. Robotics and Autonomous Systems, 194. [BibTeX]
Schreiter, T. , Almeida, T. R. d. , Zhu, Y. , Gutiérrez Maestro, E. , Morillo-Mendez, L. , Rudenko, A. , Palmieri, L. , Kucner, T. P. & et al. (2025). THÖR-MAGNI: A large-scale indoor motion capture recording of human movement and robot interaction. The international journal of robotics research, 44 (4). [BibTeX]
Alhashimi, A. , Adolfsson, D. , Andreasson, H. , Lilienthal, A. & Magnusson, M. (2024). BFAR: improving radar odometry estimation using a bounded false alarm rate detector. Autonomous Robots, 48 (8). [BibTeX]
Molina, S. , Mannucci, A. , Magnusson, M. , Adolfsson, D. , Andreasson, H. , Hamad, M. , Abdolshah, S. , Chadalavada, R. T. & et al. (2024). The ILIAD Safety Stack: Human-Aware Infrastructure-Free Navigation of Industrial Mobile Robots. IEEE robotics & automation magazine, 31 (3), 48-59. [BibTeX]
Almeida, T. R. d. , Zhu, Y. , Rudenko, A. , Kucner, T. P. , Stork, J. A. , Magnusson, M. & Lilienthal, A. J. (2024). Trajectory Prediction for Heterogeneous Agents: A Performance Analysis on Small and Imbalanced Datasets. IEEE Robotics and Automation Letters, 9 (7), 6576-6583. [BibTeX]
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. [BibTeX]
Kucner, T. P. , Magnusson, M. , Mghames, S. , Palmieri, L. , Verdoja, F. , Swaminathan, C. S. , Krajnik, T. , Schaffernicht, E. & et al. (2023). Survey of maps of dynamics for mobile robots. The international journal of robotics research, 42 (11), 977-1006. [BibTeX]
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. [BibTeX]
Swaminathan, C. S. , Kucner, T. P. , Magnusson, M. , Palmieri, L. , Molina, S. , Mannucci, A. , Pecora, F. & Lilienthal, A. J. (2022). Benchmarking the utility of maps of dynamics for human-aware motion planning. Frontiers in Robotics and AI, 9. [BibTeX]
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. [BibTeX]
Brandão, M. , Mansouri, M. & Magnusson, M. (2022). Editorial: Responsible Robotics. Frontiers in Robotics and AI, 9. [BibTeX]
Luperto, M. , Kucner, T. P. , Tassi, A. , Magnusson, M. & Amigoni, F. (2022). Robust Structure Identification and Room Segmentation of Cluttered Indoor Environments From Occupancy Grid Maps. IEEE Robotics and Automation Letters, 7 (3), 7974-7981. [BibTeX]
Alhashimi, A. , Magnusson, M. , Knorn, S. & Varagnolo, D. (2021). Calibrating Range Measurements of Lidars Using Fixed Landmarks in Unknown Positions. Sensors, 21 (1). [BibTeX]
Gholami Shahbandi, S. & Magnusson, M. (2019). 2D map alignment with region decomposition. Autonomous Robots, 43 (5), 1117-1136. [BibTeX]
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). [BibTeX]
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. [BibTeX]
Mielle, M. , Magnusson, M. & Lilienthal, A. J. (2019). URSIM: Unique Regions for Sketch Map Interpretation and Matching. Robotics, 8 (2). [BibTeX]
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, 19 (9), 2977-2993. [BibTeX]
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. [BibTeX]
Almqvist, H. , Magnusson, M. , Kucner, T. P. & Lilienthal, A. (2018). Learning to detect misaligned point clouds. Journal of Field Robotics, 35 (5), 662-677. [BibTeX]
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. [BibTeX]
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. [BibTeX]
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. [BibTeX]
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. [BibTeX]
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. [BibTeX]
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. [BibTeX]
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. [BibTeX]

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). [BibTeX]

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. [BibTeX]
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. [BibTeX]
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. [BibTeX]
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. [BibTeX]
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. [BibTeX]
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. [BibTeX]
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. [BibTeX]

Conference papers

Zhu, Y. , Shih-Min, Y. , Magnusson, M. & Wang, A. (2026). HiCrowd: Hierarchical Crowd Flow Alignment for Dense Human Environments. In: 2026 IEEE International Conference on Robotics and Automation (ICRA). Paper presented at 2026 IEEE International Conference on Robotics and Automation (ICRA 2026), Vienna, Austria, June 1-5, 2026. IEEE. [BibTeX]
Zhu, Y. , Shih-Min, Y. , Rudenko, A. , Kucner, T. P. , Lilienthal, A. J. & Magnusson, M. (2026). NeMo-map: Neural implicit flow fields for spatio-temporal motion mapping. Paper presented at The Fourteenth International Conference on Learning Representations (ICLR 2026), Rio de Janeiro, Brazil, April 23-27, 2026. [BibTeX]
Stracca, E. , Rudenko, A. , Palmieri, L. , Salaris, P. , Castri, L. , Mazzi, N. , Rakcevic, V. , Vaskevicius, N. & et al. (2025). DARKO-Nav: Hierarchical Risk and Context-Aware Robot Navigation in Complex Intralogistic Environments. In: Marco Huber; Alexander Verl; Werner Kraus, European Robotics Forum 2025 Boosting the Synergies between Robotics and AI for a Stronger Europe. Paper presented at 16th European Robotics Forum-ERF-Annual, Stuttgart, Germany, March 25-27, 2025. (pp. 155-161). Springer. [BibTeX]
Schreiter, T. , Rüppel, J. V. , Hazra, R. , Rudenko, A. , Magnusson, M. & Lilienthal, A. J. (2025). Evaluating Efficiency and Engagement in Scripted and LLM-Enhanced Human-Robot Interactions. In: 2025 20th ACM IEEE International Conference on Human Robot Interaction (HRI). Paper presented at 20th International Conference on Human Robot Interaction (HRI 2025), Melbourne, Australia, March 4-6, 2025. (pp. 1608-1612). IEEE. [BibTeX]
Zhu, Y. , Rudenko, A. , Palmieri, L. , Heuer, L. , Lilienthal, A. & Magnusson, M. (2025). Fast Online Learning of CLiFF-Maps in Changing Environments. In: Ott, C, IEEE International Conference on Robotics and Automation Proceedings. Paper presented at 2025 IEEE International Conference on Robotics and Automation (ICRA 2025), Atlanta, USA, May 19-23, 2025. (pp. 10424-10431). Institute of Electrical and Electronics Engineers Inc.. [BibTeX]
Rüppel, J. V. , Rudenko, A. , Schreiter, T. , Magnusson, M. & Lilienthal, A. (2025). Gaze-supported Large Language Model Framework for Bi-directional Human-Robot Interaction. In: 34th IEEE International Conference on Robot & Human Interactive Communication (RO-MAN). Paper presented at 34th IEEE International Conference on Robot & Human Interactive Communication (RO-MAN 2025), Eindhoven, The Netherlands, August 25-29, 2025. (pp. 677-684). [BibTeX]
Rudenko, A. , Zhu, Y. , Almeida, T. R. d. , Schreiter, T. , Castri, L. , Belotto, N. , Linder, T. , Vaskevicius, N. & et al. (2025). Hierarchical System to Predict Human Motion and Intentions for Efficient and Safe Human-Robot Interaction in Industrial Environments. In: 1st German Robotics Conference. Paper presented at 1st German Robotics Conference, Nuremberg, Germany, March 13-15, 2025. [BibTeX]
Shih-Min, Y. , Magnusson, M. , Stork, J. A. & Stoyanov, T. (2025). KEA: Keeping Exploration Alive by Proactively Coordinating Exploration Strategies. In: Proceedings of Machine Learning Research. Paper presented at 42nd International Conference on Machine Learning (ICML 2025), Vancouver, Canada, July 13-19, 2025. (pp. 70927-70942). LR-Journal Machine Learning Research. [BibTeX]
Schreiter, T. , Rudenko, A. , Rüppel, J. V. , Magnusson, M. & Lilienthal, A. J. (2025). Multimodal Interaction and Intention Communication for Industrial Robots. In: 1st German Robotics Conference. Paper presented at 1st German Robotics Conference, Nuremberg, Germany, March 13-15, 2025. [BibTeX]
Sun, S. , Mielle, M. , Lilienthal, A. J. & Magnusson, M. (2024). 3QFP: Efficient neural implicit surface reconstruction using Tri-Quadtrees and Fourier feature Positional encoding. Paper presented at 2024 IEEE International Conference on Robotics and Automation (ICRA 2024), Yokohama, Japan, May 13-17, 2024. IEEE. [BibTeX]
Heuer, L. , Palmieri, L. , Mannucci, A. , Koenig, S. & Magnusson, M. (2024). Benchmarking Multi-Robot Coordination in Realistic, Unstructured Human-Shared Environments. In: 2024 IEEE International Conference on Robotics and Automation (ICRA). Paper presented at 2024 IEEE International Conference on Robotics and Automation (ICRA), Yokohama, Japan, 13-17 May, 2024. (pp. 14541-14547). Institute of Electrical and Electronics Engineers (IEEE). [BibTeX]
Kubelka, V. , Fritz, E. & Magnusson, M. (2024). Do we need scan-matching in radar odometry?. In: 2024 IEEE International Conference on Robotics and Automation (ICRA). Paper presented at 2024 IEEE International Conference on Robotics and Automation (ICRA 2024), Yokohama, Japan, May 13-17, 2024. (pp. 13710-13716). IEEE Robotics and Automation Society. [BibTeX]
Galeote-Luque, A. , Kubelka, V. , Magnusson, M. , Ruiz-Sarmiento, J. & Gonzalez-Jimenez, J. (2024). Doppler-only Single-scan 3D Vehicle Odometry. In: 2024 IEEE International Conference on Robotics and Automation (ICRA). Paper presented at 2024 IEEE International Conference on Robotics and Automation (ICRA 2024), Yokohama, Japan, May 13-17, 2024. (pp. 13703-13709). IEEE Robotics and Automation Society. [BibTeX]
Sun, S. , Mielle, M. , Lilienthal, A. J. & Magnusson, M. (2024). High-Fidelity SLAM Using Gaussian Splatting with Rendering-Guided Densification and Regularized Optimization. In: 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Paper presented at 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2024), Abu Dhabi, United Arab Emirates, October 14-18, 2024. IEEE. [BibTeX]
Skog, M. , Kotlyar, O. , Kubelka, V. & Magnusson, M. (2024). Human Detection from 4D Radar Data in Low-Visibility Field Conditions. Paper presented at Radar in Robotics: Resilience from Signal to Navigation - Full-Day Workshop at 2024 IEEE International Conference on Robotics and Automation (ICRA 2024), Yokohama, Japan, May 13-17, 2024. [BibTeX]
Schreiter, T. , Rudenko, A. , Magnusson, M. & Lilienthal, A. (2024). Human Gaze and Head Rotation during Navigation, Exploration and Object Manipulation in Shared Environments with Robots. In: 2024 33rd IEEE International Conference on Robot and Human Interactive Communication (ROMAN). Paper presented at 2024 33rd IEEE International Conference on Robot and Human Interactive Communication (ROMAN), Passadena, CA, USA, 26-30 Aug. 2024. (pp. 1258-1265). IEEE Computer Society. [BibTeX]
Zhu, Y. , Fan, H. , Rudenko, A. , Magnusson, M. , Schaffernicht, E. & Lilienthal, A. (2024). LaCE-LHMP: Airflow Modelling-Inspired Long-Term Human Motion Prediction By Enhancing Laminar Characteristics in Human Flow. In: 2024 IEEE International Conference on Robotics and Automation (ICRA). Paper presented at IEEE International Conference on Robotics and Automation (ICRA 2024), Yokohama, Japan, May 13-17, 2024. (pp. 11281-11288). IEEE. [BibTeX]
Shih-Min, Y. , Magnusson, M. , Stork, J. A. & Stoyanov, T. (2024). Learning Extrinsic Dexterity with Parameterized Manipulation Primitives. In: 2024 IEEE International Conference on Robotics and Automation (ICRA). Paper presented at IEEE International Conference on Robotics and Automation (ICRA 2024), Yokohama, Japan, May 13-17, 2024. (pp. 5404-5410). IEEE. [BibTeX]
Schreiter, T. , Morillo-Mendez, L. , Chadalavada, R. T. , Rudenko, A. , Billing, E. , Magnusson, M. , Arras, K. O. & Lilienthal, A. J. (2023). Advantages of Multimodal versus Verbal-Only Robot-to-Human Communication with an Anthropomorphic Robotic Mock Driver. In: 2023 32nd IEEE International Conference on Robot and Human Interactive Communication (RO-MAN) Proceedings. Paper presented at 32nd IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), Busan, South Korea, August 28-31, 2023. (pp. 293-300). IEEE. [BibTeX]
Zhu, Y. , Rudenko, A. , Kucner, T. , Palmieri, L. , Arras, K. , Lilienthal, A. & Magnusson, M. (2023). CLiFF-LHMP: Using Spatial Dynamics Patterns for Long-Term Human Motion Prediction. In: 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 01-05 October 2023, Detroit, MI, USA. Paper presented at 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2023), Detroit, MI, USA, October 1-5, 2023. (pp. 3795-3802). IEEE. [BibTeX]
Heuer, L. , Palmieri, L. , Rudenko, A. , Mannucci, A. , Magnusson, M. & Arras, K. O. (2023). Proactive Model Predictive Control with Multi-Modal Human Motion Prediction in Cluttered Dynamic Environments. In: 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 01-05 October 2023, Detroit, MI, USA. Paper presented at 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2023), Detroit, MI, USA, October 1-5, 2023. (pp. 229-236). IEEE. [BibTeX]
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. [BibTeX]
Almeida, T. , Rudenko, A. , Schreiter, T. , Zhu, Y. , Gutiérrez Maestro, E. , Morillo-Mendez, L. , Kucner, T. P. , Martinez Mozos, O. & et al. (2023). THÖR-Magni: Comparative Analysis of Deep Learning Models for Role-Conditioned Human Motion Prediction. In: 2023 IEEE/CVF International Conference on Computer Vision Workshops (ICCVW). Paper presented at IEEE/CVF International Conference on Computer Vision (ICCV) Workshops, Paris, France, October 2-6, 2023. (pp. 2192-2201). IEEE. [BibTeX]
Schreiter, T. , Almeida, T. R. d. , Zhu, Y. , Gutiérrez Maestro, E. , Morillo-Mendez, L. , Rudenko, A. , Kucner, T. P. , Martinez Mozos, O. & et al. (2022). The Magni Human Motion Dataset: Accurate, Complex, Multi-Modal, Natural, Semantically-Rich and Contextualized. Paper presented at 31st IEEE International Conference on Robot & Human Interactive Communication, Naples, Italy, August 29 - September 2, 2022. [BibTeX]
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. [BibTeX]
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. [BibTeX]
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. [BibTeX]
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. [BibTeX]
Kucner, T. P. , Luperto, M. , Lowry, S. , Magnusson, M. & Lilienthal, A. (2021). Robust Frequency-Based Structure Extraction. In: 2021 IEEE International Conference on Robotics and Automation (ICRA). Paper presented at IEEE International Conference on Robotics and Automation (ICRA 2021), Xi'an, China, May 30 - June 5, 2021. (pp. 1715-1721). IEEE. [BibTeX]
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. [BibTeX]
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. [BibTeX]
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. [BibTeX]
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. [BibTeX]
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. [BibTeX]
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). [BibTeX]
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. [BibTeX]
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). [BibTeX]
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). [BibTeX]
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. [BibTeX]
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. [BibTeX]
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). [BibTeX]
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. [BibTeX]
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. [BibTeX]
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. [BibTeX]
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. [BibTeX]
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). [BibTeX]
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. [BibTeX]
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. [BibTeX]
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. [BibTeX]
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. [BibTeX]
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. [BibTeX]
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. [BibTeX]
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. [BibTeX]
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. [BibTeX]
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. [BibTeX]
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. [BibTeX]
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. [BibTeX]
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. [BibTeX]
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. [BibTeX]
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. [BibTeX]
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. [BibTeX]
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. [BibTeX]

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. [BibTeX]

Licentiate theses, monographs

Magnusson, M. (2006). 3D Scan Matching for Mobile Robots with Application to Mine Mapping: Licentiate Thesis. Lic. Örebro University. [BibTeX]

Manuscripts

Heuer, L. , Zhu, Y. , Palmieri, L. , Rudenko, A. , Mannucci, A. , Koenig, S. & Magnusson, M. Conflict Mitigation in Shared Environment susing Flow-Aware Multi-Agent Path Finding. [BibTeX]