Henrik Andreasson
YOU?
Author Swipe
View article: Exploiting Radiance Fields for Grasp Generation on Novel Synthetic Views
Exploiting Radiance Fields for Grasp Generation on Novel Synthetic Views Open
Vision based robot manipulation uses cameras to capture one or more images of a scene containing the objects to be manipulated. Taking multiple images can help if any object is occluded from one viewpoint but more visible from another view…
View article: Introspective Loop Closure for SLAM with 4D Imaging Radar
Introspective Loop Closure for SLAM with 4D Imaging Radar Open
Simultaneous Localization and Mapping (SLAM) allows mobile robots to navigate without external positioning systems or pre-existing maps. Radar is emerging as a valuable sensing tool, especially in vision-obstructed environments, as it is l…
View article: BFAR: improving radar odometry estimation using a bounded false alarm rate detector
BFAR: improving radar odometry estimation using a bounded false alarm rate detector Open
This work introduces a novel detector, bounded false-alarm rate (BFAR), for distinguishing true detections from noise in radar data, leading to improved accuracy in radar odometry estimation. Scanning frequency-modulated continuous wave (F…
View article: Learning the Approach During the Short-loading Cycle Using Reinforcement Learning
Learning the Approach During the Short-loading Cycle Using Reinforcement Learning Open
The short-loading cycle is a repetitive task performed in high quantities, making it a great alternative for automation. In the short-loading cycle, an expert operator navigates towards a pile, fills the bucket with material, navigates to …
View article: Automating the Short-Loading Cycle: Survey and Integration Framework
Automating the Short-Loading Cycle: Survey and Integration Framework Open
The short-loading cycle is a construction task where a wheel loader scoops material from a nearby pile in order to move that material to the tipping body of a dump truck. The short-loading cycle is a vital task performed in high quantities…
View article: Towards introspective loop closure in 4D radar SLAM
Towards introspective loop closure in 4D radar SLAM Open
Imaging radar is an emerging sensor modality in the context of Localization and Mapping (SLAM), especially suitable for vision-obstructed environments. This article investigates the use of 4D imaging radars for SLAM and analyzes the challe…
View article: The ILIAD Safety Stack: Human-Aware Infrastructure-Free Navigation of Industrial Mobile Robots
The ILIAD Safety Stack: Human-Aware Infrastructure-Free Navigation of Industrial Mobile Robots Open
Safe yet efficient operation of professional service robots within logistics or production in human-robot shared environments requires a flexible human-aware navigation stack. In this manuscript, we propose the ILIAD safety stack comprisin…
View article: How-to Augmented Lagrangian on Factor Graphs
How-to Augmented Lagrangian on Factor Graphs Open
Factor graphs are a very powerful graphical representation, used to model many problems in robotics. They are widely spread in the areas of Simultaneous Localization and Mapping (SLAM), computer vision, and localization. In this paper we d…
View article: NDT‐6D for color registration in agri‐robotic applications
NDT‐6D for color registration in agri‐robotic applications Open
Registration of point cloud data containing both depth and color information is critical for a variety of applications, including in‐field robotic plant manipulation, crop growth modeling, and autonomous navigation. However, current state‐…
View article: Robust Scan Registration for Navigation in Forest Environment Using Low-Resolution LiDAR Sensors
Robust Scan Registration for Navigation in Forest Environment Using Low-Resolution LiDAR Sensors Open
Automated forest machines are becoming important due to human operators’ complex and dangerous working conditions, leading to a labor shortage. This study proposes a new method for robust SLAM and tree mapping using low-resolution LiDAR se…
View article: Issue Information
Issue Information Open
Superiority of ibrutinib plus bendamustine
View article: TBV Radar SLAM -- trust but verify loop candidates
TBV Radar SLAM -- trust but verify loop candidates Open
Robust SLAM in large-scale environments requires fault resilience and awareness at multiple stages, from sensing and odometry estimation to loop closure. In this work, we present TBV (Trust But Verify) Radar SLAM, a method for radar SLAM t…
View article: Software Architectures for Mobile Robots
Software Architectures for Mobile Robots Open
View article: Fuzzy Cluster-Based Group-Wise Point Set Registration With Quality Assessment
Fuzzy Cluster-Based Group-Wise Point Set Registration With Quality Assessment Open
This article studies group-wise point set registration and makes the following contributions: "FuzzyGReg", which is a new fuzzy cluster-based method to register multiple point sets jointly, and "FuzzyQA", which is the associated quality as…
View article: Lidar-Level Localization With Radar? The CFEAR Approach to Accurate, Fast, and Robust Large-Scale Radar Odometry in Diverse Environments
Lidar-Level Localization With Radar? The CFEAR Approach to Accurate, Fast, and Robust Large-Scale Radar Odometry in Diverse Environments Open
This article presents an accurate, highly efficient, and learning-free method for large-scale odometry estimation using spinning radar, empirically found to generalize well across very diverse environments—outdoors, from urban to woodland,…
View article: Lidar-level localization with radar? The CFEAR approach to accurate, fast and robust large-scale radar odometry in diverse environments
Lidar-level localization with radar? The CFEAR approach to accurate, fast and robust large-scale radar odometry in diverse environments Open
This paper presents an accurate, highly efficient, and learning-free method for large-scale odometry estimation using spinning radar, empirically found to generalize well across very diverse environments -- outdoors, from urban to woodland…
View article: Sensors for Mobile Robots
Sensors for Mobile Robots Open
View article: Controlled mechanical stimuli reveal novel associations between basil metabolism and sensory quality
Controlled mechanical stimuli reveal novel associations between basil metabolism and sensory quality Open
There is an increasing interest in the use of automation in plant production settings. Here, we employed a robotic platform to induce controlled mechanical stimuli (CMS) aiming to improve basil quality. Semi-targeted UHPLC-qToF-MS analysis…
View article: Software Architectures for Mobile Robots
Software Architectures for Mobile Robots Open
A software architecture defines the blueprints of a large computational system, and is thus a crucial part of the design and development effort. This task has been explored extensively in the context of mobile robots, resulting in a pletho…
View article: CorAl: Introspection for robust radar and lidar perception in diverse environments using differential entropy
CorAl: Introspection for robust radar and lidar perception in diverse environments using differential entropy Open
Robust perception is an essential component to enable long-term operation of\nmobile robots. It depends on failure resilience through reliable sensor data\nand preprocessing, as well as failure awareness through introspection, for\nexample…
View article: A Local Planner for Accurate Positioning for a Multiple Steer-and-Drive Unit Vehicle Using Non-Linear Optimization
A Local Planner for Accurate Positioning for a Multiple Steer-and-Drive Unit Vehicle Using Non-Linear Optimization Open
This paper presents a local planning approach that is targeted for pseudo-omnidirectional vehicles: that is, vehicles that can drive sideways and rotate on the spot. This local planner—MSDU–is based on optimal control and formulates a non-…
View article: The effect of spray rails, chine strips and V-shaped spray interceptors on the performance of low planing high-speed craft in calm water
The effect of spray rails, chine strips and V-shaped spray interceptors on the performance of low planing high-speed craft in calm water Open
The design of spray rails has been under-reported in recent decades; besides general guidelines, few studies focus on the design of spray rails on a planing craft. The influence of the breadth and the bottom angle of the spray rails on the…
View article: MSI-RPi: Affordable, Portable, and Modular Multispectral Imaging Prototype Suited to Operate in UV, Visible and Mid-Infrared Regions
MSI-RPi: Affordable, Portable, and Modular Multispectral Imaging Prototype Suited to Operate in UV, Visible and Mid-Infrared Regions Open
Digital plant inventory provides critical growth insights, given the associated data quality is good. Stable & high-quality image acquisition is critical for further examination. In this work, we showcase an affordable, portable, and modul…
View article: Development of novel robotic platforms for mechanical stress induction, and their effects on plant morphology, elements, and metabolism
Development of novel robotic platforms for mechanical stress induction, and their effects on plant morphology, elements, and metabolism Open
View article: FuzzyPSReg: Strategies of Fuzzy Cluster-Based Point Set Registration
FuzzyPSReg: Strategies of Fuzzy Cluster-Based Point Set Registration Open
This paper studies the fuzzy cluster-based point set registration (FuzzyPSReg). First, we propose a new metric based on Gustafson-Kessel (GK) fuzzy clustering to measure the alignment of two point clouds. Unlike the metric based on fuzzy c…
View article: CFEAR Radarodometry - Conservative Filtering for Efficient and Accurate Radar Odometry
CFEAR Radarodometry - Conservative Filtering for Efficient and Accurate Radar Odometry Open
This paper presents the accurate, highly efficient, and learning-free method CFEAR Radarodometry for large-scale radar odometry estimation. By using a filtering technique that keeps the k strongest returns per azimuth and by additionally f…
View article: Oriented surface points for efficient and accurate radar odometry
Oriented surface points for efficient and accurate radar odometry Open
This paper presents an efficient and accurate radar odometry pipeline for large-scale localization. We propose a radar filter that keeps only the strongest reflections per-azimuth that exceeds the expected noise level. The filtered radar d…
View article: BFAR-Bounded False Alarm Rate detector for improved radar odometry estimation
BFAR-Bounded False Alarm Rate detector for improved radar odometry estimation Open
This paper presents a new detector for filtering noise from true detections in radar data, which improves the state of the art in radar odometry. Scanning Frequency-Modulated Continuous Wave (FMCW) radars can be useful for localization and…
View article: Autonomous Heavy-Duty Mobile Machinery: A Multidisciplinary Collaborative Challenge
Autonomous Heavy-Duty Mobile Machinery: A Multidisciplinary Collaborative Challenge Open
Heavy-duty mobile machines (HDMMs), are a wide range of off-road machinery used in diverse and critical application areas which are currently facing several issues like skilled labor shortage, safety requirements, and harsh work environmen…
View article: CorAl – Are the point clouds Correctly Aligned?
CorAl – Are the point clouds Correctly Aligned? Open
In robotics perception, numerous tasks rely on point cloud registration. However, currently there is no method that can automatically detect misaligned point clouds reliably and without environment-specific parameters. We propose "CorAl", …