1. Junming Cao;Jiadi Cui;Sören Schwertfeger;#, GlassGaussian: Extending 3D Gaussian Splatting for Realistic Imperfections and Glass Materials, IEEE ACCESS, 2025, 13:31517-31531

2. Zhao XT(赵希亭);S¨oren Schwertfeger;#, Pushing the Limits of LiDAR: Accurate Performance Analysis of Indoor 3D LiDARs, PROCEEDINGS - 2025 INTERNATIONAL CONFERENCE ON 3D VISION, 3DV 2025, 2025,

3. Li, Jian;Xu, Bowen;Schwertfeger, Soren;#, High-Quality, ROS Compatible Video Encoding and Decoding for High-Definition Datasets, IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, ROBIO, 2024, 2024:1635-1640

4. Xie, Fujing;Schwertfeger, Soren;#, Empowering Robot Path Planning with Large Language Models: osmAG Map Topology & Hierarchy Comprehension with LLMs, IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, ROBIO, 2024, 2024:707-712

5. Xie, Fujing;Schwertfeger, Sören;#, Robust Lifelong Indoor LiDAR Localization Using the Area Graph, IEEE ROBOTICS AND AUTOMATION LETTERS, Jan 2024, 9(1):531-538

6. Yuxin Lin;Jiaxuan Ma;Sizhe Gu;Jipeng Kong;Bowen Xu;Xiting Zhao;Dengji Zhao;Wenhan Cao;Soren Schwertfeger;#, Collecting Large-Scale Robotic Datasets on a High-Speed Mobile Platform, 2024 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO), 14 Dec 2024, 2024:2125-2130

7. Liu, Yumeng;Yang, Yaxun;Wang, Youzhuo;Wu, Xiaofei;Wang, Jiamin;Yao, Yichen;Schwertfeger, Soren;Yang, Sibei;Wang, Wenping;Yu, Jingyi;He, Xuming;Ma, Yuexin;#, RealDex: Towards Human-like Grasping for Robotic Dexterous Hand, PROCEEDINGS OF THE THIRTY-THIRD INTERNATIONAL JOINT CONFERENCE ON ARTIFICIAL INTELLIGENCE, IJCAI 2024, 2024, 6859-6867

8. Cao, Junming;Zhao, Xiting;Schwertfeger, Soren;#, Large-Scale Indoor Visual-Geometric Multimodal Dataset and Benchmark for Novel View Synthesis, SENSORS, Sep 2024, 24(17)

9. Cui, Jiadi;Zhang, Jiajie;Kneip, Laurent;Schwertfeger, Soren;#, Neural Surfel Reconstruction: Addressing Loop Closure Challenges in Large-Scale 3D Neural Scene Mapping, SENSORS, Nov 2024, 24(21)

10. Lin, Yuxin;Ma, Jiaxuan;Gu, Sizhe;Kong, Jipeng;Xu, Bowen;Zhao, Xiting;Zhao, Dengji;Cao, Wenhan;Schwertfeger, Soeren;#, Collecting Larg-Scale Robotic Datasets on a High-Speed Mobile Platform, 2024 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO), 01 Aug 2024,

11. Liu, Yumeng;Yang, Yaxun;Wang, Youzhuo;Wu, Xiaofei;Wang, Jiamin;Yao, Yichen;Schwertfeger, Sören;Yang, Sibei;Wang, Wenping;Yu, Jingyi;He, Xuming;Ma, Yuexin;#, RealDex: Towards Human-like Grasping for Robotic Dexterous Hand, IJCAI INTERNATIONAL JOINT CONFERENCE ON ARTIFICIAL INTELLIGENCE, 2024, 6859-6867

12. Zhao, Xiting;Schwertfeger, Soren;#, 3DRef: 3D Dataset and Benchmark for Reflection Detection in RGB and Lidar Data, PROCEEDINGS - 2024 INTERNATIONAL CONFERENCE ON 3D VISION, 3DV 2024, 2024, 225-234

13. Li, Yinjie;Zhao, Xiting;Schwertfeger, Soren;#, Detection and Utilization of Reflections in LiDAR Scans Through Plane Optimization and Plane SLAM, ARXIV, Aug 2024, 24(15)

14. Zhuang, Ziwen;Fu, Zipeng;Wang, Jianren;Atkeson, Christopher;Schwertfeger, Soren;Finn, Chelsea;Zhao, Hang;#, Robot Parkour Learning, CONFERENCE ON ROBOT LEARNING, VOL 229, 2023, 229

15. Delin Feng;Chengqian Li;Yongqi, Zhang;Chen,Yu;Sören Schwertfeger;#, osmAG: Hierarchical Semantic Topometric Area Graph Maps in the OSM Format for Mobile Robotics, 2023 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO), 09 Dec 2023,

16. Zhuang, Ziwen;Fu, Zipeng;Wang, Jianren;Atkeson, Christopher;Schwertfeger, Sören;Finn, Chelsea;Zhao, Hang;#, Robot Parkour Learning, PROCEEDINGS OF MACHINE LEARNING RESEARCH, 2023, 229

17. Wenqing, Jiang;Chengqian, Li;Jinyue, Cao;Soren Schwertfeger;#, Optimizing the extended Fourier Mellin Transformation Algorithm, IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS 2023, 2023, 3453-3460

18. Delin Feng;Zhenpeng He;Jiawei Hou;Sören Schwertfeger;Liangjun Zhang;#, FloorplanNet: Learning Topometric Floorplan Matching for Robot Localization, PROCEEDINGS - IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, 2023, 2023-May:6168-6174

19. Yuanyuan Yang;Bowen Xu;Yinjie Li;Sören Schwertfeger;#, The SLAM Hive Benchmarking Suite, IEEE CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) 2023, 2023, 2023-May:11257-11263

20. Wei, Jiaxin;Liu, Lige;Cheng, Ran;Jiang, Wenqing;Xu, Minghao;Jiang, Xinyu;Sun, Tao;Schwertfeger, Soren;Kneip, Laurent;#, Spotlights: Probing Shapes from Spherical Viewpoints, LECTURE NOTES IN COMPUTER SCIENCE (INCLUDING SUBSERIES LECTURE NOTES IN ARTIFICIAL INTELLIGENCE AND LECTURE NOTES IN BIOINFORMATICS), 2023, 13841 LNCS:469-485

21. Xianglong Tan;Zhikang Liu;Chen Yu;Sören Schwertfeger;Andre Rosendo;#, Rearranging the Environment to Maximize Energy with a Robotic Circuit Drawing, 2022 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, ROBIO 2022, 2022, 2281-2286

22. Jiadi Cui;Sören Schwertfeger;#, CP+: Camera Poses Augmentation with Large-scale LiDAR Maps, 2022 IEEE INTERNATIONAL CONFERENCE ON REAL-TIME COMPUTING AND ROBOTICS (RCAR), 22 Jul 2022,

23. Yuanyuan Yang;Delin Feng;Sören Schwertfeger;#, Cluster on Wheels, 2022 INTERNATIONAL CONFERENCE FOR ADVANCEMENT IN TECHNOLOGY, ICONAT 2022, 2022,

24. Yifu Wang;Wenqing Jiang;Kun Huang;Sören Schwertfeger;Laurent Kneip;#, Accurate Calibration of Multi-Perspective Cameras from a Generalization of the Hand-Eye Constraint, PROCEEDINGS - IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, 2022, 1244-1250

25. Hou, Jiawei;Yuan, Yijun;He, Zhenpeng;Schwertfeger, Sören;#, Matching maps based on the Area Graph, INTELLIGENT SERVICE ROBOTICS, Mar 2022,

26. Cui, Jiadi;Jin, Lei;Kuang, Haofei;Xu, Qingwen;Schwertfeger, Sören;#, Underwater Depth Estimation for Spherical Images, JOURNAL OF ROBOTICS, 18 Jun 2021, 2021

27. Yuan, Yijun;Borrmann, Dorit;Hou, Jiawei;Ma, Yuexin;Nüchter, Andreas;Schwertfeger, Sören;#, Self-supervised point set local descriptors for point cloud registration, SENSORS, Jan 2021, 21(2):1-18

28. Xu, Qingwen;Long, Xiaoling;Kuang, Haofei;Schwertfeger, Sören;#, Rotation Estimation for Omni-directional Cameras Using Sinusoid Fitting, JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, Sep 2021, 103(1)

29. Kuang, Haofei;Zhu, Yi;Zhang, Zhi;Li, Xinyu;Tighe, Joseph;Schwertfeger, Soeren;Stachniss, Cyrill;Li, Mu;#, Video Contrastive Learning With Global Context, PROCEEDINGS OF THE IEEE/CVF INTERNATIONAL CONFERENCE ON COMPUTER VISION (ICCV) WORKSHOPS 2021, Aug 2021,

30. He, Zhenpeng;Sun, Hao;Hou, Jiawei;Ha, Yajun;Schwertfeger, Sören;#, Hierarchical topometric representation of 3D robotic maps, AUTONOMOUS ROBOTS, Jun 2021, 45(5):755-771

31. Xu, Qingwen;Kuang, Haofei;Kneip, Laurent;Schwertfeger, Sören;#, Rethinking the Fourier-Mellin Transform: Multiple Depths in the Camera's View, REMOTE SENSING, Mar 2021, 13(5)

32. Xiting Zhao;Zhijie Yang;Sören Schwertfeger;#, Mapping with reflection - detection and utilization of reflection in 3d lidar scans, 2020 IEEE INTERNATIONAL SYMPOSIUM ON SAFETY, SECURITY, AND RESCUE ROBOTICS (SSRR), 2020,

33. Cai, Jianxiong;Hou, Jiawei;Lu, Yiren;Chen, Hongyu;Kneip, Laurent;Schwertfeger, Sören;#, Improving cnn-based planar object detection with geometric prior knowledge, IEEE PRESS, 2020,

34. Yijun Yuan;Qingwen Xu;Sören Schwertfeger;#, Configuration-Space Flipper Planning on 3D Terrain, 2020 IEEE INTERNATIONAL SYMPOSIUM ON SAFETY, SECURITY, AND RESCUE ROBOTICS (SSRR), 2020,

35. Long, Xiaoling;Xu, Qingwen;Yuan, Yijun;He, Zhenpeng;Schwertfeger, Sören;#, Improved Visual-Inertial Localization for Low-cost Rescue Robots, INTERNATIONAL FEDERATION OF AUTOMATIC CONTROL WORLD CONGRESS, 2020,

36. Chen, Hongyu;Yang, Zhijie;Zhao, Xiting;Weng, Guangyuan;Wan, Haochuan;Luo, Jianwen;Ye, Xiaoya;Zhao, Zehao;He, Zhenpeng;Shen, Yongxia;Schwertfeger, Sören;#, Advanced mapping robot and high-resolution dataset, ROBOTICS AND AUTONOMOUS SYSTEMS, Sep 2020, 131

37. Hou, Jiawei;Kuang, Haofei;Schwertfeger, Sören;#, Fast 2D Map Matching Based on Area Graphs, 2019 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO), Dec 2019, 1723-1729

38. Yuan, Yijun;Wang, Letong;Schwertfeger, Sören;#, Configuration-Space Flipper Planning for Rescue Robots, 2019 IEEE INTERNATIONAL SYMPOSIUM ON SAFETY, SECURITY, AND RESCUE ROBOTICS, SSRR 2019, 2019, 36-42

39. Zhi, Xiangyang;He, Xuming;Schwertfeger, Sören;#, Learning Autonomous Exploration and Mapping with Semantic Vision, PROCEEDINGS OF 2019 INTERNATIONAL CONFERENCE ON IMAGE, VIDEO AND SIGNAL PROCESSING (IVSP 2019), 2019, Part F147767:8-15

40. Hongyu Chen;Sören Schwertfeger;#, Heterogeneous Multi-sensor Calibration based on Graph Optimization, 2019 IEEE INTERNATIONAL CONFERENCE ON REAL-TIME COMPUTING AND ROBOTICS (RCAR), Aug 2019, 158-163

41. Schwertfeger, Sören;Ohno, Kazunori;#, Editorial: Special issue on safety, security, and rescue robotics, JOURNAL OF FIELD ROBOTICS, Jun 2019, 36(4):639-640

42. Qingwen Xu;Arturo Gomez Chavez;Heiko Bülow;Andreas Birk;Sören Schwertfeger;#, IMPROVED FOURIER MELLIN INVARIANT FOR ROBUST ROTATION ESTIMATION WITH OMNI-CAMERAS, 2019 IEEE INTERNATIONAL CONFERENCE ON IMAGE PROCESSING (ICIP), 2019, 320-324

43. Zhenpeng He;Jiawei Hou;Sören Schwertfeger;#, Furniture free mapping using 3D lidars, IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, ROBIO 2019, 01 Dec 2019, 583-589

44. Chavez, Arturo Gomez;Xu, Qingwen;Mueller, Christian A.;Schwertfeger, Sören;Birk, Andreas;#, Towards accurate deep-sea localization in structured environments based on perception quality cues, PROCEEDINGS OF THE INTERNATIONAL JOINT CONFERENCE ON AUTONOMOUS AGENTS AND MULTIAGENT SYSTEMS, AAMAS, 2019, 4:1988-1990

45. Shan, Zeyong;Li, Ruijian;Schwertfeger, Sören;#, RGBD-Inertial Trajectory Estimation and Mapping for Ground Robots, SENSORS, 02 May 2019, 19(10)

46. Yijun Yuan;Sören Schwertfeger;#, Incrementally Building Topology Graphs via Distance Maps, 2019 IEEE INTERNATIONAL CONFERENCE ON REAL-TIME COMPUTING AND ROBOTICS (RCAR), Aug 2019, 468-474

47. Kuang, Haofei;Xu, Qingwen;Long, Xiaoling;Schwertfeger, Sören;#, Pose Estimation for Omni-directional Cameras using Sinusoid Fitting, 2019 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), Nov 2019, 900-906

48. Chavez, Arturo Gomez;Xu, Qingwen;Mueller, Christian A.;Schwertfeger, Sören;Birk, Andreas;#, Adaptive Navigation Scheme for Optimal Deep-Sea Localization Using Multimodal Perception Cues, 2019 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), Nov 2019, 7211-7218

49. Haofei, Kuang;Qingwen, Xu;Schwertfeger, Sören;#, Depth Estimation on Underwater Omni-directional Images Using a Deep Neural Network, WORKSHOP ON UNDERWATER ROBOTICS PERCEPTION, 2019 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2019,

50. Long, Xiaoling;Schwertfeger, Sören;#, Path Planning Tolerant to Degraded Locomotion Conditions, 2019 IEEE INTERNATIONAL SYMPOSIUM ON SAFETY, SECURITY, AND RESCUE ROBOTICS, SSRR 2019, 2019, 290-296

51. Jiawei Hou;Yijun Yuan;Schwertfeger Sören;#, Area Graph: Generation of Topological Maps using the Voronoi Diagram, 19TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS (ICAR), 2019,

52. Hongyu Chen;Xiting Zhao;Jianwen Luo;Zhijie Yang;Zehao Zhao;Haochuan Wan;Xiaoya Ye;Guangyuan Weng;Zhenpeng He;Tian Dong;Schwertfeger, Sören;#, Towards Generation and Evaluation of Comprehensive Mapping Robot Datasets, WORKSHOP ON DATASET GENERATION AND BENCHMARKING OF SLAM ALGORITHMS FOR ROBOTICS AND VR/AR, 2019,

53. 智向阳;S?ren Schwertfeger;#, 基于凸优化的扩展手眼标定算法, 电子设计工程, 2018, 26(20):148-153

54. Yuan, Yijun;Kuang, Haofei;Schwertfeger, Sören;#, Fast Gaussian Process Occupancy Maps, 2018 15TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION, ROBOTICS AND VISION (ICARCV), 2018, 1502-1507

55. Zhi, Xiangyang;Schwertfeger, Sören;#, Simultaneous Hand-Eye Calibration and Reconstruction, 2017 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), 2017, 2017-September:1470-1477

56. S?ren Schwertfeger;于天彦;#, 拓扑地图中的房间检测, 电子设计工程, 2017, 25(12):27-32

57. Sheh, Raymond;Schwertfeger, Sören;Visser, Arnoud;#, 16 Years of RoboCup Rescue, KUNSTLICHE INTELLIGENZ, Oct 2016, 30(3-4):267-277

58. Schwertfeger, Sören;Yu, Tianyan;#, Matching Paths in Topological Maps, IFAC-PAPERSONLINE, 2016, 49(15):224-229

59. Schwertfeger, Sören;Birk, Andreas;#, Map evaluation using matched topology graphs, AUTONOMOUS ROBOTS, Jun 2016, 40(5):761-787

60. Todor Stoyanov;Narunas Vaskevicius;Christian A. Mueller;Tobias Fromm;Robert Krug;Vinicio Tincani;Rasoul Mojtahedzadeh;Stefan Kunaschk;Rafael Mortensen Ernits;Daniel R. Canelhas;Manuel Bonilla;Soren Schwertfeger;Marco Bonini;Harry Halfar;Kaustubh Pathak;Mortiz Rohde;Gualtiero Fantoni;Antonio Bicchi;Andreas Birk;Achim J. Lilienthal;Wolfgang Echelmeyer;#, No More Heavy Lifting Robotic Solutions to the Container-Unloading Problem, IEEE ROBOTICS & AUTOMATION MAGAZINE, Dec 2016, 23(4):94-106

61. Schwertfeger, Sören;Birk, Andreas;#, Using Fiducials in 3D Map Evaluation, 2015 IEEE INTERNATIONAL SYMPOSIUM ON SAFETY, SECURITY, AND RESCUE ROBOTICS (SSRR), 2015,