Martin Magnusson

Martin Magnusson

Research Interests

My main research is concerned with 3D perception, and efficient and versatile 3D surface representations. I have investigated 3D scan registration and mobile-robot applications such as localisation, loop detection, and semantic analysis of 3D scenes. I have also been investigating methods for using 3D perception in autoloading of piled materials in construction and mining applications.

Since recently, my research also includes mapping methods that go beyond mere geometry, and methods for making use of maps with high uncertainty. I have a particular interest in quantitative quality measures of maps and the methods that are used when constructing them.

I support the international committee for robot arms control and the campaign to stop autonomous military robots.

Selected publications

  • T. P. Kucner, M. Magnusson, E. Schaffernicht, V. M. Hernandez Bennetts and A. Lilienthal. Enabling Flow Awareness for Mobile Robots in Partially Observable Environments. IEEE Robotics and Automation Letters 2017.BibTeX | DiVA  ]
  • Martin Magnusson, Narunas Vaskevicius, Todor Stoyanov, Kaustubh Pathak and Andreas Birk. Beyond points: Evaluating recent 3D scan-matching algorithms. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) 2015.BibTeX | DiVA Plot appendix ]

  • Martin Magnusson, Tom Duckett and Achim J. Lilienthal. Scan Registration for Autonomous Mining Vehicles Using 3D-NDT. Journal of Field Robotics 2007. [ BibTeX | DiVA  ]
  • Martin Magnusson, Tomasz Piotr Kucner and Achim J. Lilienthal. Quantitative Evaluation of Coarse-To-Fine Loading Strategies for Material Rehandling. Proceedings of the IEEE International Conference on Automation Science and Engineering (CASE) 2015. [ BibTeX | DiVA  ]

Teaching

I teach Probabilistic Robotics, Computer Graphics, and Imperative Programming. I am also coordinating our Master’s Programme in Robotics and Intelligent Systems.

Brief CV

I currently work as lektor (asst. prof.) in the Mobile Robotics & Olfaction lab of AASS. I am mainly involved in the research projects ILIAD, SmokeBot, and AIR; where I’m working with methods for making use of rough and heterogeneous prior information in SLAM.

I am vice chair of the IEEE/RAS Working Group for the IEEE standard 1873-2015 for representing map data for robot navigation.

Previously I have also been active in the SPENCER project, working with safe and robust localisation and mapping in a crowded environment.

I was leading the ALLO project (with partners Volvo Construction Equipment and NCC) and was also heavily involved in its predecessor ALL-4-eHAM. The target application in both of these projects was autonomous wheel loaders, and the main outcome of the projects includes perception and planning methods for efficient auto-loading of piled materials. 

In 2009, I received a tekn. dr. (Ph. D.) degree from Örebro University. Between 2004 and 2009, I was an industrial graduate student at Örebro University in cooperation with Atlas Copco Rock Drills. The focus of my research as a PhD student was the 3D normal-distributions transform and its applications for scan registration, surface analysis, and loop detection.

I received my undergraduate education in computer science at Uppsala University, interleaved with periods of work and play. I wrote my Master’s thesis on the subject of hierarchical reinforcement learning for balancing a bipedal robot, and received my fil. mag. (M. Sc.) in computer science from Uppsala University in 2004.

Contact

Dr. Martin Magnusson

AASS Research Centre
School of Science and Technology
Örebro University
70182 Örebro, Sweden
Room T1216
Phone +46 (0)19 30 38 70
martin-magnusson@oru.se

Publications

Journal Articles

[1] T. P. Kucner, M. Magnusson, E. Schaffernicht, V. M. Hernandez Bennetts and A. Lilienthal. Enabling Flow Awareness for Mobile Robots in Partially Observable Environments. IEEE Robotics and Automation Letters 2017BibTeX | DiVA  ]
[2] H. Almqvist, M. Magnusson and A. J. Lilienthal. Improving Point Cloud Accuracy Obtained from a Moving Platform for Consistent Pile Attack Pose Estimation. Journal of Intelligent and Robotic Systems, 75(1):101-128, 2014BibTeX | DiVA  ]
[3] T. Stoyanov, M. Magnusson and A. J. Lilienthal. Comparative evaluation of the consistency of three-dimensional spatial representations used in autonomous robot navigation. Journal of Field Robotics, 30(2):216-236, 2013BibTeX | DiVA  ]
[4] T. Stoyanov, M. Magnusson, A. J. Lilienthal and H. Andreasson. 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, 2012BibTeX | DiVA  ]
[5] M. Magnusson, H. Andreasson, A. Nüchter and A. J. Lilienthal. Automatic appearance-based loop detection from three-dimensional laser data using the normal distributions transform. Journal of Field Robotics, 26(11-12):892-914, 2009BibTeX | DiVA  | PDF ]
[6] M. Magnusson, A. J. Lilienthal and T. Duckett. Scan registration for autonomous mining vehicles using 3D-NDT. Journal of Field Robotics, 24(10):803-827, 2007BibTeX | DiVA  ]

Refereed Conference and Workshop Articles

[1] L. Palmieri, T. Kucner, M. Magnusson, A. Lilienthal and K. Arras. Kinodynamic Motion Planning on Gaussian Mixture Fields. In IEEE International Conference on Robotics and Automation (ICRA 2017) 2017BibTeX | DiVA  ]
[2] A. Zaganidis, M. Magnusson, T. Duckett and G. Cielniak. Semantic-assisted 3D Normal Distributions Transform for scan registration in environments with limited structure. In 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 4064-4069, 2017BibTeX | DiVA  ]
[3] M. Magnusson, T. Kucner, S. Gholami Shahbandi, H. Andreasson and A. J. Lilienthal. Semi-Supervised 3D Place Categorisation by Descriptor Clustering. In 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 620-625, 2017BibTeX | DiVA  ]
[4] M. Mielle, M. Magnusson, H. Andreasson and A. Lilienthal. Using emergency maps to add not yet explored places into SLAM. 2017BibTeX | DiVA  ]
[5] R. Triebel, K. Arras, R. Alami, L. Beyer, S. Breuers, R. Chatila, M. Chetouani, D. Cremers, V. Evers, M. Fiore, H. Hung, O. A. I. Ramirez, M. Joosse, H. Khambhaita, T. Kucner, B. Leibe, A. J. Lilienthal, T. Linder, M. Lohse, M. Magnusson, B. Okal, L. Palmieri, U. Rafi, M. van Rooij and L. Zhang. SPENCER : A Socially Aware Service Robot for Passenger Guidance and Help in Busy Airports. In Field and Service Robotics : Results of the 10th International Conference, pages 607-622, 2016BibTeX | DiVA  ]
[6] T. Kucner, M. Magnusson, E. Schaffernicht, V. Hernandez Bennetts and A. Lilienthal. Tell me about dynamics! : Mapping velocity fields from sparse samples with Semi-Wrapped Gaussian Mixture Models. In Robotics : Science and Systems Conference (RSS 2016) 2016BibTeX | DiVA  | PDF ]
[7] M. Mielle, M. Magnusson and A. J. Lilienthal. Using sketch-maps for robot navigation : interpretation and matching. In 2016 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), pages 252-257, 2016BibTeX | DiVA  | PDF ]
[8] M. Magnusson, N. Vaskevicius, T. Stoyanov, K. Pathak and A. Birk. Beyond points : Evaluating recent 3D scan-matching algorithms. In 2015 IEEE International Conference on Robotics and Automation (ICRA), 2015 June(2015-June):3631-3637, 2015BibTeX | DiVA  | PDF ]
[9] M. Magnusson, T. Kucner and A. J. Lilienthal. Quantitative Evaluation of Coarse-To-Fine Loading Strategies for Material Rehandling. In Proceedings of the IEEE International Conference on Automation Science and Engineering (CASE), pages 450-455, 2015BibTeX | DiVA  ]
[10] T. P. Kucner, M. Magnusson and A. J. Lilienthal. Where am I? : An NDT-based prior for MCL. In 2015 European Conference on Mobile Robots (ECMR) 2015BibTeX | DiVA  ]
[11] T. Kucner, J. Sarinen, M. Magnusson and A. J. Lilienthal. Conditional transition maps: learning motion patterns in dynamic environments. In IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 1196-1201, 2013BibTeX | DiVA  | PDF ]
[12] H. Almqvist, M. Magnusson, T. Stoyanov and A. J. Lilienthal. Improving Point-Cloud Accuracy from a Moving Platform in Field Operations. In 2013 IEEE International Conference on Robotics and Automation (ICRA), pages 733-738, 2013BibTeX | DiVA  ]
[13] T. Stoyanov, M. Magnusson and A. J. Lilienthal. Point Set Registration through Minimization of the L-2 Distance between 3D-NDT Models. In 2012 IEEE International Conference on Robotics and Automation (ICRA), pages 5196-5201, 2012BibTeX | DiVA  ]
[14] M. Magnusson and H. Almqvist. Consistent pile-shape quantification for autonomous wheel loaders. In 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 4078-4083, 2011BibTeX | DiVA  ]
[15] T. Stoyanov, M. Magnusson, H. Almqvist and A. J. Lilienthal. 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) 2011BibTeX | DiVA  ]
[16] T. Stoyanov, M. Magnusson, H. Andreasson and A. J. Lilienthal. Path planning in 3D environments using the normal distributions transform. In IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems (IROS 2010), pages 3263-3268, 2010BibTeX | DiVA  | PDF ]
[17] M. Magnusson, H. Andreasson, A. Nüchter and A. J. Lilienthal. Appearance-based loop detection from 3D laser data using the normal distributions transform. In IEEE International Conference on Robotics and Automation 2009 (ICRA '09), pages 23-28, 2009BibTeX | DiVA  ]
[18] M. Magnusson, A. Nüchter, C. Lörken, A. J. Lilienthal and J. Hertzberg. Evaluation of 3D registration reliability and speed : a comparison of ICP and NDT. In Proceedings of the 2009 IEEE international conference on Robotics and Automation, ICRA'09, pages 2263-2268, 2009BibTeX | DiVA  | PDF ]
[19] M. Magnusson, A. Nüchter, C. Lörken, A. J. Lilienthal and J. Hertzberg. 3D mapping the Kvarntorp mine : a rield experiment for evaluation of 3D scan matching algorithms. , pages 7-, 2008BibTeX | DiVA  ]
[20] B. Huhle, M. Magnusson, W. Straßer and A. J. Lilienthal. Registration of colored 3D point clouds with a Kernel-based extension to the normal distributions transform. In IEEE international conference on robotics and automation, ICRA 2008 : ICRA 2008, pages 4025-4030, 2008BibTeX | DiVA  ]
[21] H. Andreasson, M. Magnusson and A. J. Lilienthal. Has something changed here? : Autonomous difference detection for security patrol robots. In IEEE/RSJ international conference on intelligent robots and systems, 2007. IROS 2007, pages 3429-3435, 2007BibTeX | DiVA  ]
[22] M. Magnusson, T. Duckett, R. Elsrud and L. E. Skagerlund. 3D modelling for underground mining vehicles. 2005BibTeX | DiVA  ]
[23] M. Magnusson and T. Duckett. A comparison of 3D registration algorithms for autonomous underground mining vehicles. 2005BibTeX | DiVA  ]

Theses

[1] M. Magnusson. The three-dimensional normal-distributions transform : an efficient representation for registration, surface analysis, and loop detection. Örebro University, School of Science and Technology, Ph.D. Thesis, 2009BibTeX | DiVA  | PDF ]

Find the complete BibTeX record here.

 
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