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Todor Stoyanov

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

Email:

Phone: +46 19 303358

Room: T1225

Todor Stoyanov

About Todor Stoyanov

I am a post doctoral researcher at the MR&O Lab in AASS since June 2012. In April 2012 I completed my PhD thesis in Computer Science, also at the MR&O Lab at AASS. Before coming to Örebro University, I completed a Bachelors degree in Electrical Engineering and Computer Science and a Masters degree in Smart Systems, both at Jacobs University Bremen.

My main research interests are in the field of probabilistic robotics and intelligent systems. During my PhD studies, I worked primarily in the field of 3D perception, with a focus on registration and mapping using 3D range sensors. I have previously been engaged in work on Simultaneous Localization and Mapping (SLAM), extraction of semantic information, and design of systems for safety security and rescue robotics (SSRR). My current work focuses on further applications of 3D perception to safe robot navigation in dynamic environments as well as robotics for logistics and manipulation

Publications

Articles in journals |  Chapters in books |  Conference papers |  Doctoral theses, comprehensive summaries | 

Articles in journals

Canelhas, D. R. , Schaffernicht, E. , Stoyanov, T. , Lilienthal, A. & Davison, A. J. (2017). Compressed Voxel-Based Mapping Using Unsupervised Learning. Robotics, 6 (3).
Ahtiainen, J. , Stoyanov, T. & Saarinen, J. (2017). Normal Distributions Transform Traversability Maps: LIDAR-Only Approach for Traversability Mapping in Outdoor Environments. Journal of Field Robotics, 34 (3), 600-621.
Canelhas, D. R. , Stoyanov, T. & Lilienthal, A. J. (2016). From Feature Detection in Truncated Signed Distance Fields to Sparse Stable Scene Graphs. IEEE Robotics and Automation Letters, 1 (2), 1148-1155.
Stoyanov, T. , Vaskevicius, N. , Mueller, C. A. , Fromm, T. , Krug, R. , Tincani, V. , Mojtahedzadeh, R. , Kunaschk, S. & et al. (2016). No More Heavy Lifting: Robotic Solutions to the Container-Unloading Problem. IEEE robotics & automation magazine, 23 (4), 94-106.
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.
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. (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.

Chapters in books

Pfingsthorn, M. , Nevatia, Y. , Stoyanov, T. , Rathnam, R. , Markov, S. & Birk, A. (2009). Towards Cooperative and Decentralized Mapping in the Jacobs Virtual Rescue Team. In: Iocchi, Luca; Matsubara, Hitoshi; Weitzenfeld, Alfredo; Zhou, Changjiu, RoboCup 2008: Robot Soccer World Cup XII Vol 5399 (pp. 225-234). . Springer Berlin / Heidelberg.

Conference papers

Canelhas, D. R. , Stoyanov, T. & Lilienthal, A. J. (2018). A Survey of Voxel Interpolation Methods and an Evaluation of Their Impact on Volumetric Map-Based Visual Odometry. In: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA),. Paper presented at IEEE International Conference on Robotics and Automation (ICRA), Brisbane, Australia, May 21 - 25, 2018.
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).
Stoyanov, T. , Krug, R. , Muthusamy, R. & Kyrki, V. (2016). Grasp Envelopes: Extracting Constraints on Gripper Postures from Online Reconstructed 3D Models. 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 2016), Daejeong, Korea, October 9-14, 2016 (pp. 885-892). 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.
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.
Krug, R. , Stoyanov, T. & Lilienthal, A. (2015). Grasp Envelopes for Constraint-based Robot Motion Planning and Control. In: Robotics: Science and Systems Conference Workshop on Bridging the Gap between Data-driven and Analytical Physics-based Grasping and Manipulation. Paper presented at 2015 Robotics: Science and Systems Conference (RSS, Rome, Italy, July 13-17, 2015.
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.
Tincani, V. , Catalano, M. , Grioli, G. , Stoyanov, T. , Krug, R. , Lilienthal, A. J. , Fantoni, G. & Bicchi, A. (2015). Sensitive Active Surfaces on the Velvet II Dexterous Gripper. Paper presented at IEEE International Conference on Robotics and Automation (ICRA) - Workshop "Get in Touch!" Tactile & Force Sensing for Autonomous, Compliant, Intelligent Robots, Seattle, USA, May 30, 2015 (pp. 2744-2750). IEEE.
Tincani, V. , Stoyanov, T. , Krug, R. , Catalano, M. , Grioli, G. , Lilienthal, A. J. , Fantoni, G. & Bicchi, A. (2015). The Grasp Acquisition Strategy of the Velvet II. Paper presented at IEEE International Conference on Robotics and Automation (ICRA) - Workshop on Robotic Hands, Grasping, and Manipulation, Seattle, USA, May 30, 2015.
Krug, R. , Stoyanov, T. , Bonilla, M. , Tincani, V. , Vaskevicius, N. , Fantoni, G. , Birk, A. , Lilienthal, A. & et al. (2014). Improving Grasp Robustness via In-Hand Manipulation with Active Surfaces. In: Workshop on Autonomous Grasping and Manipulation An Open Challenge. Paper presented at 2014 IEEE International Conference on Robotics and Automation (ICRA 2014), Hong Kong, China, May 31-June 7, 2014.
Vaskevicius, N. , Mueller, C. A. , Bonilla, M. , Tincani, V. , Stoyanov, T. , Fantoni, G. , Pathak, K. , Lilienthal, A. J. & et al. (2014). Object recognition and localization for robust grasping with a dexterous gripper in the context of container unloading. Paper presented at 2014 IEEE International Conference on Automation Science and Engineering (CASE). August 18-22, 2014. Taipei, China. (pp. 1270-1277). IEEE conference proceedings.
Bennetts, V. H. , Schaffernicht, E. , Stoyanov, T. , Lilienthal, A. J. & Trincavelli, M. (2014). Robot Assisted Gas Tomography - Localizing Methane Leaks in Outdoor Environments. In: 2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA). Paper presented at IEEE International Conference on Robotics and Automation (ICRA), MAY 31-JUN 07, 2014, Hong Kong, PEOPLES R CHINA (pp. 6362-6367). IEEE conference proceedings.
Hernandez Bennetts, V. , Schaffernicht, E. , Stoyanov, T. , Lilienthal, A. J. & Trincavelli, M. (2014). Robot assisted gas tomography: an alternative approach for the detection of fugitive methane emissions. In: Workshop on Robot Monitoring. Paper presented at Workshop on Robotic Monitoring at the Robotics Science and Systems (RSS) 2014. July 13th, Berkeley Ca., USA.
Krug, R. , Stoyanov, T. , Bonilla, M. , Tincani, V. , Vaskevicius, N. , Fantoni, G. , Birk, A. , Lilienthal, A. J. & et al. (2014). Velvet fingers: grasp planning and execution for an underactuated gripper with active surfaces. In: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA). Paper presented at 2014 IEEE International Conference on Robotics & Automation (ICRA), Hong Kong Convention and Exhibition Center, May 31 - June 7, 2014. Hong Kong, China (pp. 3669-3675). IEEE conference proceedings.
Mojtahedzadeh, R. , Stoyanov, T. & Lilienthal, A. J. (2013). Application Based 3D Sensor Evaluation: A Case Study in 3D Object Pose Estimation for Automated Unloading of Containers. In: Proceedings of the European Conference on Mobile Robots (ECMR). Paper presented at 6th European Conference on Mobile Robots (ECMR, (pp. 313-318). 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.
Canelhas, D. R. , Stoyanov, T. & Lilienthal, A. J. (2013). Improved local shape feature stability through dense model tracking. 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. 3203-3209). 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.
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.
Canelhas, D. R. , Stoyanov, T. & Lilienthal, A. J. (2013). SDF tracker: a parallel algorithm for on-line pose estimation and scene reconstruction from depth images. 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. 3671-3676). IEEE.
Charusta, K. , Krug, R. , Stoyanov, T. , Dimitrov, D. & Iliev, B. (2012). Generation of independent contact regions on objects reconstructed from noisy real-world range data. In: 2012 IEEE International Conference on Robotics and Automation (ICRA). Paper presented at 2012 IEEE International Conference on Robotics and Automation (ICRA), St Paul, MN, USA, May 14-18, 2012 (pp. 1338-1344). 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.
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), May 14, St. Paul, MI, USA. 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. , 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.
Ferri, G. , Mondini, A. , Manzi, A. , Mazzolai, B. , Laschi, C. , Mattoli, V. , Reggente, M. , Stoyanov, T. & et al. (2010). DustCart, a Mobile Robot for Urban Environments: Experiments of Pollution Monitoring and Mapping during Autonomous Navigation in Urban Scenarios. In: Proceedings of ICRA Workshop on Networked and Mobile Robot Olfaction in Natural, Dynamic Environments. Paper presented at ICRA Workshop on Networked and Mobile Robot Olfaction in Natural, Dynamic Environments.
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.
Stoyanov, T. & Lilienthal, A. J. (2009). Maximum Likelihood Point Cloud Acquisition from a Rotating Laser Scanner on a Moving Platform. In: Proceedings of the IEEE International Conference on Advanced Robotics (ICAR). Paper presented at IEEE International Conference on Advanced Robotics (ICAR). IEEE conference proceedings.
Stoyanov, T. & Lilienthal, A. J. (2009). Maximum likelihood point cloud acquisition from a mobile platform. In: International conference on advanced robotics, ICAR 2009.. Paper presented at IEEE international conference on advanced robotics (ICAR), 22-26 June 2009, Munic (pp. 1-6). New York: IEEE conference proceedings.
Birk, A. , Poppinga, J. , Stoyanov, T. & Nevatia, Y. (2009). Planetary Exploration in USARSim: A Case Study including Real World Data from Mars. In: Volume editors: Luca Iocchi, Hitoshi Matsubara, Alfredo Weitzenfeld, Changjiu Zhou, RoboCup 2008 Robot Soccer World Cup XII. Paper presented at RoboCup Symposium (pp. 463-472). Springer Berlin Heidelberg.
Nevatia, Y. , Stoyanov, T. , Rathnam, R. , Pfingsthorn, M. , Markov, S. , Ambrus, R. & Birk, A. (2008). Augmented Autonomy: Improving human-robot team performance in Urban Search and Rescue. In: 2008 IEEE/RSJ International Conference on Robots and Intelligent Systems, vols 1-3, conference proceedings. Paper presented at IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 2103-2108). New York: IEEE Robotics and Automation Society.
Birk, A. , Stoyanov, T. , Nevatia, Y. , Ambrus, R. , Poppinga, J. & Pathak, K. (2008). Terrain Classification for Autonomous Robot Mobility: from Safety, Security Rescue Robotics to Planetary Exploration. Paper presented at IEEE International Conference on Robotics and Automation (ICRA), Planetary Rovers Workshop.
Carpin, S. , Stoyanov, T. , Nevatia, Y. , Lewis, M. & Wang, J. (2006). Quantitative Assessments of USARSim Accuracy. Paper presented at Performance Metrics for Intelligent Systems (PerMIS) Workshop.

Doctoral theses, comprehensive summaries

Stoyanov, T. D. (2012). Reliable autonomus navigation in semi-structured environments using the three-dimensional normal distributions transform (3D-NDT). (Doctoral dissertation). (Comprehensive summary) Örebro: Örebro universitet.