Sören Schwertfeger
Associate Professor
Graduated School: Jacobs University Bremen, Germany
Tel: 021-20685096
Office: SIST 1D-201.A
Research Area:
Affiliation:
Research Group:
Research Area: Mobile Robotics; Embodied AI; SLAM; Robot Navigation; Mobile Manipulation
招聘主页:
Profile
Teammate
Research
Educate
Service
achievements
Papers
Videos
Related
Main Responsibilities(A)
Minor Responsibilities(B)
Minor Responsibilities(C)

Dr. Sören Schwertfeger is an Associate Professor of the School of Information Science and Technology (SIST) at ShanghaiTech University, where he joined in August 2014. He is also the co-director of the ShanghaiTech Automation and Robotics Center (STAR Center). He graduated with a Diploma in Computer Science in 2005 from the University of Bremen in Germany. In 2012 he received his Ph.D. in Computer Science from the Jacobs University Bremen. Between 2012 and 2014 he was a postdoctoral researcher at the Robotics Group of Prof. Andreas Birk at Jacobs University. In 2010 Dr. Schwertfeger was a guest researcher at the National Institute of Standards and Technology (NIST) in Gaithersburg, Maryland, USA. His research interests are in robotics, especially AI and autonomy for mobile robots. Dr. Schwertfeger works and publishes on mapping, SLAM, robot autonomy and AI. Dr. Schwertfeger was the general chair of the 2017 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), an associate editor of the IEEE Robotics and Automation Magazine and a guest editor for Journal of Field Robotics. He is a senior IEEE member and a Trustee of the RoboCup Federation.


  • 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,