Henrik Andreasson

Welcome!

I'm working as a postdoc in the MR&O Lab. I received my M.Sc. degree in Mechatronics at the Royal Institute of Technology, Stockholm, Sweden in 2001 and my Ph.D. degree in Computer Science from Örebro University in 2008.

Research Interests

I'm interested in mobile robotic, vision (especially related to robotics), and machine learning. I've been working with both, mapping (SLAM) and localization using omni-directional cameras but also with a combination of a 3D laser scanner and a planar camera. My current project [MALTA] involves autonomous loading / unloading of paper reels using a fork lift truck.

Brief CV

I was born outside of Gothenburg in 1977. After finishing the mathematics high-school in Stockholm, I did my undergraduate studies at the Royal Institute of Technology (KTH) specializing in Mechatronics. I had the great opportunity to do my master thesis at the Autonomous Systems Lab (ASL) at University of Hawaii. After my graduation I've been working as a consultant in medical engineering with developing anaesthesia equipments. From 2002 to 2008 I've been a Ph.D. student at the MR&O Lab at the Centre of Applied Autonomous Sensor Systems (AASS), Örebro University, where I currently hold a postdoc position. During the end of 2004 and beginning of 2005 I was visiting Prof. Wolfram Burgard's group: Autonomous Intelligent Systems (AIS), in Freiburg, Germany.

Publications

Books

Henrik Andreasson, Camera based Navigation by Mobile Robots. VDM Verlag Dr. Müller, 2009, ISBN: 978-3639124521. Get it at [Amazon.com] :-)

Journal Articles

• Henrik Andreasson, Achim J. Lilienthal, 6D Scan Registration using Depth-Interpolated Local Image Features. In Robotics and Autonomous Systems, in press, 2009. [BibTex] [submitted PDF (1.8MB)].
• Martin Magnusson, Henrik Andreasson, Andreas Nüchter and Achim J. Lilienthal, Automatic Appearance-Based Loop Detection from 3D Laser Data Using the Normal Distributions Transform. Journal of Field Robotics, 26:11-12, 2009, 892-914. [BibTex] [PDF (0.9MB)].
• Henrik Andreasson, Tom Duckett and Achim J. Lilienthal, A Minimalistic Approach to Appearance based Visual SLAM. IEEE Trans. on Robotics (Special issue on Visual SLAM), Volume 24, Number 5, October 2008 [BibTex] [PDF (1.3)]
• Henrik Andreasson, Rudolph Triebel and Achim J. Lilienthal, Non-iterative Vision-based Interpolation of 3D Laser Scans. In Autonomous Robots and Agents (Studies in Computational Intelligence), Volume 76, Springer, Germany, 2007, pp. 83-90. [BibTex] [PDF (1.2MB)].
• Henrik Andreasson, André Treptow and Tom Duckett, Self-Localization in Non-Stationary Environments using Omni-directional Vision. Robotics and Autonomous Systems, Volume 55, Issue 7, North-Holland Publishing Co., Amsterdam, The Netherlands, 2007, pp. 541-551. [BibTex] [PDF (1.9MB)].
• Hashem Tamimi, Henrik Andreasson, André Treptow, Tom Duckett and Andreas Zell, Localization of mobile robots with omnidirectional vision using Particle Filter and iterative SIFT. Robotics and Autonomous Systems, Volume 54, Issue 9, North-Holland Publishing Co., Amsterdam, The Netherlands, 2006, pp. 758-765. [BibTex] [PDF (1.4MB)].

Conference Papers

• Henrik Andreasson, Abdelbaki Bouguerra, Todoy Stoyanov, Martin Magnusson and Achim J. Lilienthal, Vision-based People Detection Utilizing Reflective Vests for Autonomous Transportation Applications. IROS Workshop on Metrics and Methodologies for Autonomous Robot Teams in Logistics (MMART-LOG), 2011.
• Todor Stoyanov, Martin Magnusson, Henrik Andreasson and Achim J. Lilienthal, Path Planning in 3D Environments using the Normal Distributions Transform. Proceedings of the 3rd European Conference on Mobile Robots (ECMR), 2011, pp. 19-24.
• Todor Stoyanov, Athanasia Louloudi, Henrik Andreasson and Achim J. Lilienthal, Comparative Evaluation of Range Sensor Accuracy in Indoor Environments. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2010, pp. 3263-3268.
• Abdelbaki Bouguerra, Henrik Andreasson, Achim J. Lilienthal, Björn Åstrand, and Thorsteinn Rögnvaldsson, MALTA: A System of Multiple Autonomous Trucks for Load Transportation. Proceedings of the 3rd European Conference on Mobile Robots (ECMR), 2009, pp. 91-96. [BibTex] [PDF (2.4MB)].
• Abdelbaki Bouguerra, Henrik Andreasson, Achim J. Lilienthal, Björn Åstrand, and Thorsteinn Rögnvaldsson, An Autonomous Robotic System for Load Transportation. Proceedings of the 14th IEEE Int. Conference on Emerging Technologies and Factory Automation (ETFA), 2009, to appear. [BibTex] [PDF (2.2MB)].
• Martin Magnusson, Henrik Andreasson, Andreas Nüchter, and Achim J. Lilienthal, Appearance-Based Loop Detection from 3D Laser Data Using the Normal Distributions Transform. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2009, pp. 23-28. [BibTex] [PDF (0.3MB)] [Digest (0.1MB)]
• Henrik Andreasson, Martin Magnusson and Achim J. Lilienthal, Has Something Changed Here? Autonomous Difference Detection for Security Patrol Robots. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2007, pp. 3429-3435. [BibTex] [PDF (0.8MB)] [Digest (0.2MB)]
• Henrik Andreasson and Achim J. Lilienthal, Vision Aided 3D Laser Based Registration. Proceedings of the 3rd European Conference on Mobile Robots (ECMR), 2007, pp. 192-197. [BibTex] [PDF (0.6MB)] [Presentation (14.3MB)].
• Henrik Andreasson, Tom Duckett and Achim J. Lilienthal, Mini-SLAM: Minimalistic Visual SLAM in Large-Scale Environments Based on a New Interpretation of Image Similarity. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2007, pp. 4096-4101. [BibTex] [PDF (0.8MB)] [Digest (0.2MB)] [Presentation (6.9MB)].
• Henrik Andreasson, Rudolph Triebel and Achim J. Lilienthal, Vision Based Interpolation of 3D Laser Scans. Proceedings of the International Conference on Autonomous Robots and Agents (ICARA), 2006. [BibTex] [PDF (1.0MB)] [Presentation (7.4MB)].
• Hashem Tamimi, Henrik Andreasson, André Treptow, Tom Duckett and Andreas Zell, Localization of Mobile Robots with Omnidirectional Vision using Particle Filter and Iterative SIFT. Proceedings of the European Conference on Mobile Robots (ECMR), 2005. [BibTex] [PDF (0.4MB)].
• Henrik Andreasson, Rudolph Triebel and Wolfram Burgard, Improving Plane Extraction from 3D Data by Fusing Laser Data and Vision. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2005. [BibTex] [PDF (0.3MB)].
• Henrik Andreasson, André Treptow and Tom Duckett, Localization for Mobile Robots using Panoramic Vision, Local Features and Particle Filter. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2005, pp. 3348-3353. [BibTex] [PDF (0.3MB)].
• Sven Fleck, Florian Bush, Peter Biber, Henrik Andreasson and Wofgang Strasser, Omnidirectional 3D Modeling on a Mobile Robot using Graph Cuts. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2005, pp. 1748-1754. [BibTex] [PDF (1.2MB)].
• Peter Biber, Henrik Andreasson, Tom Duckett and Andreas Schilling, 3D Modeling of Indoor Environments by a Mobile Robot with a Laser Scanner and Panoramic Camera. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2004. [BibTex] [PDF (0.3MB)].
• Henrik Andreasson and Tom Duckett, Object Recognition by a Mobile Robot using Omni-directional Vision. Proceedings of the Eighth Scandinavian Conference on Artificial Intelligence (SCAI), 2003. [BibTex] [PDF (0.2MB)].

Workshop and Symposium Papers

• Björn Åstrand, Thorsteinn Rögnvaldsson, Abdelbaki Bouguerra, Henrik Andreasson, and Achim J. Lilienthal, An Autonomous Robotic System for Load Transportation. Proceedings of the 4th Swedish Workshop on Autonomous Robotics (SWAR), 2009, pp. 56-57. [BibTex] [PDF (0.9MB)].
• Henrik Andreasson and Tom Duckett, Topological Localization for Mobile Robots using Omni-directional Vision and Local Features. Proceedings of the 5th Symposium on Intelligent Autonomous Vehicles (IAV), 2004. [BibTex] [PDF (3.4MB)].
• Tom Duckett, Grzergorz Cielniak, Henrik Andreasson, Li Jun, Achim Lilienthal, Peter Biber and Tomas Martinez, Robotic Security Guard - Autonomous Surveillance and Remote Perception (abstract). Proceedings of the IEEE International Workshop on Safety, Security, and Rescue Robotics, 2004.
• Tom Duckett, Grzergorz Cielniak, Henrik Andreasson, Li Jun, Achim Lilienthal and Peter Biber, An Electronic Watchman for Safety, Security and Rescue Operations (abstract). Proceedings SIMSafe 2004, Improving Public Safety through Modelling and Simulation, 2004.

Theses

• Henrik Andreasson, Local Visual based Localisation and Mapping by Mobile Robots. Ph.D. Thesis, Örebro University, 2008 [BibTex] [PDF (13MB)].

Contact

Henrik Andreasson
AASS Research Centre, Dept. of Computer Science, Örebro University,
SE - 70182 Örebro, Sweden
Room: T1218,
Phone: (+46/0) 19 - 30 3982
Fax: (+46/0) 19 - 30 3463
Email (masked to avoid spamming): henrik {dot} andreasson {at} oru {dot} se