Todor Stoyanov

Todor Stoyanov

I am an Assistant Professor at the MR&O Lab of AASS since August 2014. Prior to that, I completed a postdoc post and a PhD thesis in Computer Science, also at the MR&O Lab at AASS. Before coming to Örebro University, I completed a Bachelors degree in Electrical Engineering and Computer Science and a Masters degree in Smart Systems, both at Jacobs University Bremen.

Research Interests

My current research focuses on the intersection between 3D perception and autonomous manipulation. During my PhD studies, I worked primarily on 3D perception, with a focus on registration and mapping using 3D range sensors. I have previously engaged in work on Simultaneous Localization and Mapping (SLAM), extraction of semantic information, and design of systems for safety security and rescue robotics (SSRR). My current work focuses on applications of 3D mapping and perception techniques for mobile manipulation in the context of industrial automation.

Current Projects

My current project work focuses on using 3D perception to aid autonomous grasp acquisition. The two videos below showcase some recently published work on autonomous grasping. In addition to basic research, I am also involved in the nationally funded project AMICI and the EU H2020 project ILIAD. Starting in August 2017, I am also serving as PI in the TracMac project: a three year Vinnova-funded project focusing on remote tracking of articulated manipulators. 

Software

Several of my recent publications and projects have also produced open source software, bundled together in a stack of ROS packages. Most of the software is available for download through our lab software webpage or directly from the OrebroUniversity github account.

Supervision and Teaching

I have been involved in several courses and Masters thesis supervision in the course of our International Masters program in Robotics and Intelligent Systems. I am also teaching the Sensors and Sensing Masters level course. For Lecture notes and further information, check the course web page.

Supervised MSc thesis within the Robotics and Intelligent Systems program:

  • 3D Scan-based Navigation using Multi-Level Surface Maps (Andreas Persson, 2009)
  • Evaluation of a Bisensor System for 3D Modeling of Indoor Environments (Athanasia Louloudi, 2010)
  • Scene Representation, Registration and Object Detection in a Truncated Signed Distance Function Representation of 3D Space (Daniel Ricão Canelhas, 2012)
  • Model-based object tracking with an infrared stereo camera (Juan Manuel Rivas Diaz, 2015)
  • Part Detection in Online-Reconstructed 3D Models (Carlos Gil Camacho, 2016)
  • Automated picking: Extracting constraints for HiQP from perception (Chittaranjan Srinivas Swaminathan, 2017)

If you are interested in a Master’s Thesis with me, please check the project ideas that we have posted, or alternatively contact me with your suggestions.

Previous Projects

Some of my previous research projects are shortly described in this section. For further details, please check the project webpages and respective publications.

Robots for Autonomous Picking and Palletizing

In April 2014 AASS participated (in cooperation with University of Pisa) in the KUKA innovation award. We mounted the new KUKA iiwa robot on one of our autonomous forklift trucks. Coupled with the Velvet Fingers II gripper, the system was able to perform a simplified commissioning operation at the Hannover fair, running reliably over five days.
The next video shows a brief system description we submitted for the preliminary evaluation. Based on this video, we were selected to participate in the final round at Hannover fair.

Cognitive Robot for Automation of Logistic Processes (RobLog)

RobLog was a European Union FP 7 Project, dealing with the automatic unloading of standard shipping containers. At the moment, containers are unloaded manually since they are nearly always packed chaotically, the variety of transported goods is high, and time requirements are strict. Unloading of containers is a strenuous task as goods have a weight of up to 70 kg, thus motivating an automated unloading system. A robot for unloading generic, chaotically stacked goods presents interesting challenges in several research areas and in particular in 3D perception.

Further Links

Link to my Google Scholar Profile.

Contact

Dr. Todor Stoyanov

AASS Research Centre
School of Science and Technology
Örebro University
70182 Örebro, Sweden
Room T1225
Phone +46 (0)19 30 33 58
todor.stoyanov@oru.se

Publications

Journal Articles

[1] J. Ahtiainen, T. Stoyanov and J. Saarinen. Normal Distributions Transform Traversability Maps : LIDAR-Only Approach for Traversability Mapping in Outdoor Environments. Journal of Field Robotics, 34(3):600-621, 2017BibTeX | DiVA  ]
[2] D. R. Canelhas, T. Stoyanov and A. J. Lilienthal. From Feature Detection in Truncated Signed Distance Fields to Sparse Stable Scene Graphs. IEEE Robotics and Automation Letters, 1(2):1148-1155, 2016BibTeX | DiVA  | PDF ]
[3] T. Stoyanov, N. Vaskevicius, C. A. Mueller, T. Fromm, R. Krug, V. Tincani, R. Mojtahedzadeh, S. Kunaschk, R. M. Ernits, D. R. Canelhas, M. Bonilla, S. Schwertfeger, M. Bonini, H. Halfar, K. Pathak, M. Rohde, G. Fantoni, A. Bicchi, A. Birk, A. J. Lilienthal and W. Echelmeyer. No More Heavy Lifting : Robotic Solutions to the Container-Unloading Problem. IEEE robotics & automation magazine, 23(4):94-106, 2016BibTeX | DiVA  | PDF ]
[4] R. Krug, T. Stoyanov, V. Tincani, H. Andreasson, R. Mosberger, G. Fantoni and A. J. Lilienthal. The Next Step in Robot Commissioning : Autonomous Picking and Palletizing. IEEE Robotics and Automation Letters, 1(1):546-553, 2016BibTeX | DiVA  | PDF ]
[5] H. Andreasson, A. Bouguerra, M. Cirillo, D. N. Dimitrov, D. Driankov, L. Karlsson, A. J. Lilienthal, F. Pecora, J. P. Saarinen, A. Sherikov and T. Stoyanov. Autonomous transport vehicles : where we are and what is missing. IEEE robotics & automation magazine, 22(1):64-75, 2015BibTeX | DiVA  ]
[6] H. Andreasson, J. Saarinen, M. Cirillo, T. Stoyanov and A. Lilienthal. Drive the Drive : From Discrete Motion Plans to Smooth Drivable Trajectories. Robotics, 3(4):400-416, 2014BibTeX | DiVA  | PDF ]
[7] J. Saarinen, H. Andreasson, T. Stoyanov and A. J. Lilienthal. 3D normal distributions transform occupancy maps : an efficient representation for mapping in dynamic environments. The international journal of robotics research, 32(14):1627-1644, 2013BibTeX | DiVA  ]
[8] T. Stoyanov, R. Mojtahedzadeh, H. Andreasson and A. J. Lilienthal. Comparative evaluation of range sensor accuracy for indoor mobile robotics and automated logistics applications. Robotics and Autonomous Systems, 61(10):1094-1105, 2013BibTeX | DiVA  ]
[9] 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  ]
[10] 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  ]

Book Chapters

[1] M. Pfingsthorn, Y. Nevatia, T. Stoyanov, R. Rathnam, S. Markov and A. Birk. Towards Cooperative and Decentralized Mapping in the Jacobs Virtual Rescue Team. In RoboCup 2008 : Robot Soccer World Cup XII Vol 5399, 5399:225-234, 2009BibTeX | DiVA  ]

Refereed Conference and Workshop Articles

[1] T. Stoyanov, R. Krug, R. Muthusamy and V. Kyrki. Grasp Envelopes : Extracting Constraints on Gripper Postures from Online Reconstructed 3D Models. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 885-892, 2016BibTeX | DiVA  | PDF ]
[2] 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 ]
[3] H. Andreasson, J. Saarinen, M. Cirillo, T. Stoyanov and A. Lilienthal. Fast, continuous state path smoothing to improve navigation accuracy. In IEEE International Conference on Robotics and Automation (ICRA), 2015, pages 662-669, 2015BibTeX | DiVA  ]
[4] R. Krug, T. Stoyanov and A. Lilienthal. Grasp Envelopes for Constraint-based Robot Motion Planning and Control. In Robotics: Science and Systems Conference : Workshop on Bridging the Gap between Data-driven and Analytical Physics-based Grasping and Manipulation 2015BibTeX | DiVA  | PDF ]
[5] R. Krug, T. Stoyanov, V. Tincani, H. Andreasson, R. Mosberger, G. Fantoni, A. Bicchi and A. Lilienthal. On Using Optimization-based Control instead of Path-Planning for Robot Grasp Motion Generation. In IEEE International Conference on Robotics and Automation (ICRA) - Workshop on Robotic Hands, Grasping, and Manipulation 2015BibTeX | DiVA  | PDF ]
[6] V. Tincani, M. Catalano, G. Grioli, T. Stoyanov, R. Krug, A. J. Lilienthal, G. Fantoni and A. Bicchi. Sensitive Active Surfaces on the Velvet II Dexterous Gripper. , pages 2744-2750, 2015BibTeX | DiVA  ]
[7] V. Tincani, T. Stoyanov, R. Krug, M. Catalano, G. Grioli, A. J. Lilienthal, G. Fantoni and A. Bicchi. The Grasp Acquisition Strategy of the Velvet II. 2015BibTeX | DiVA  ]
[8] R. Krug, T. Stoyanov, M. Bonilla, V. Tincani, N. Vaskevicius, G. Fantoni, A. Birk, A. Lilienthal and A. Bicchi. Improving Grasp Robustness via In-Hand Manipulation with Active Surfaces. In Workshop on Autonomous Grasping and Manipulation : An Open Challenge 2014BibTeX | DiVA  | PDF ]
[9] N. Vaskevicius, C. A. Mueller, M. Bonilla, V. Tincani, T. Stoyanov, G. Fantoni, K. Pathak, A. J. Lilienthal, A. Bicchi and A. Birk. Object recognition and localization for robust grasping with a dexterous gripper in the context of container unloading. , pages 1270-1277, 2014BibTeX | DiVA  ]
[10] V. H. Bennetts, E. Schaffernicht, T. Stoyanov, A. J. Lilienthal and M. Trincavelli. Robot Assisted Gas Tomography - Localizing Methane Leaks in Outdoor Environments. In 2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), pages 6362-6367, 2014BibTeX | DiVA  ]
[11] V. Hernandez Bennetts, E. Schaffernicht, T. Stoyanov, A. J. Lilienthal and M. Trincavelli. Robot assisted gas tomography : an alternative approach for the detection of fugitive methane emissions. In Workshop on Robot Monitoring 2014BibTeX | DiVA  ]
[12] V. Hernandez Bennetts, E. Schaffernicht, T. Stoyanov, A. J. Lilienthal and M. Trincavelli. Robot assisted gas tomography : localizing methane leaks in outdoor environments. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) 2014BibTeX | DiVA  ]
[13] R. Krug, T. Stoyanov, M. Bonilla, V. Tincani, N. Vaskevicius, G. Fantoni, A. Birk, A. J. Lilienthal and A. Bicchi. Velvet fingers : grasp planning and execution for an underactuated gripper with active surfaces. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pages 3669-3675, 2014BibTeX | DiVA  ]
[14] R. Mojtahedzadeh, T. Stoyanov and A. J. Lilienthal. Application Based 3D Sensor Evaluation : A Case Study in 3D Object Pose Estimation for Automated Unloading of Containers. In Proceedings of the European Conference on Mobile Robots (ECMR), pages 313-318, 2013BibTeX | DiVA  ]
[15] J. Saarinen, T. Stoyanov, H. Andreasson and A. J. Lilienthal. Fast 3D mapping in highly dynamic environments using normal distributions transform occupancy maps. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 4694-4701, 2013BibTeX | DiVA  ]
[16] D. R. Canelhas, T. Stoyanov and A. J. Lilienthal. Improved local shape feature stability through dense model tracking. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 3203-3209, 2013BibTeX | DiVA  | PDF ]
[17] 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  ]
[18] J. Saarinen, H. Andreasson, T. Stoyanov and A. J. Lilienthal. Normal distributions transform monte-carlo localization (NDT-MCL). In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 382-389, 2013BibTeX | DiVA  ]
[19] T. Stoyanov, J. Saarinen, H. Andreasson and A. J. Lilienthal. Normal distributions transform occupancy map fusion : simultaneous mapping and tracking in large scale dynamic environments. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 4702-4708, 2013BibTeX | DiVA  ]
[20] J. Saarinen, H. Andreasson, T. Stoyanov, J. Ala-Luhtala and A. J. Lilienthal. Normal distributions transform occupancy maps : application to large-scale online 3D mapping. In IEEE International Conference on Robotics and Automation, pages 2233-2238, 2013BibTeX | DiVA  ]
[21] D. R. Canelhas, T. Stoyanov and A. J. Lilienthal. SDF tracker : a parallel algorithm for on-line pose estimation and scene reconstruction from depth images. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 3671-3676, 2013BibTeX | DiVA  | PDF ]
[22] K. Charusta, R. Krug, T. Stoyanov, D. Dimitrov and B. Iliev. Generation of independent contact regions on objects reconstructed from noisy real-world range data. In 2012 IEEE International Conference on Robotics and Automation (ICRA), pages 1338-1344, 2012BibTeX | DiVA  ]
[23] 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  ]
[24] H. Andreasson and T. Stoyanov. Real time registration of RGB-D data using local visual features and 3D-NDT registration. In Proc. of International Conference on Robotics and Automation (ICRA) Workshop on Semantic Perception, Mapping and Exploration (SPME) 2012BibTeX | DiVA  ]
[25] T. Stoyanov, A. Louloudi, H. Andreasson and A. J. Lilienthal. Comparative evaluation of range sensor accuracy in indoor environments. In Proceedings of the 5th European Conference on Mobile Robots, ECMR 2011, pages 19-24, 2011BibTeX | DiVA  | PDF ]
[26] 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  ]
[27] G. Ferri, A. Mondini, A. Manzi, B. Mazzolai, C. Laschi, V. Mattoli, M. Reggente, T. Stoyanov, A. J. Lilienthal, M. Lettere and P. Dario. DustCart, a Mobile Robot for Urban Environments : Experiments of Pollution Monitoring and Mapping during Autonomous Navigation in Urban Scenarios. In Proceedings of ICRA Workshop on Networked and Mobile Robot Olfaction in Natural, Dynamic Environments 2010BibTeX | DiVA  ]
[28] 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 ]
[29] T. Stoyanov and A. J. Lilienthal. Maximum Likelihood Point Cloud Acquisition from a Rotating Laser Scanner on a Moving Platform. In Proceedings of the IEEE International Conference on Advanced Robotics (ICAR) 2009BibTeX | DiVA  ]
[30] T. Stoyanov and A. J. Lilienthal. Maximum likelihood point cloud acquisition from a mobile platform. In International conference on advanced robotics, ICAR 2009., pages 1-6, 2009BibTeX | DiVA  | PDF ]
[31] A. Birk, J. Poppinga, T. Stoyanov and Y. Nevatia. Planetary Exploration in USARSim : A Case Study including Real World Data from Mars. In RoboCup 2008 : Robot Soccer World Cup XII, pages 463-472, 2009BibTeX | DiVA  ]
[32] Y. Nevatia, T. Stoyanov, R. Rathnam, M. Pfingsthorn, S. Markov, R. Ambrus and A. Birk. Augmented Autonomy : Improving human-robot team performance in Urban Search and Rescue. In 2008 IEEE/RSJ International Conference on Robots and Intelligent Systems, vols 1-3, conference proceedings, pages 2103-2108, 2008BibTeX | DiVA  ]
[33] A. Birk, T. Stoyanov, Y. Nevatia, R. Ambrus, J. Poppinga and K. Pathak. Terrain Classification for Autonomous Robot Mobility : from Safety, Security Rescue Robotics to Planetary Exploration. 2008BibTeX | DiVA  ]
[34] S. Carpin, T. Stoyanov, Y. Nevatia, M. Lewis and J. Wang. Quantitative Assessments of USARSim Accuracy. 2006BibTeX | DiVA  ]

Theses

[1] T. D. Stoyanov. Reliable autonomus navigation in semi-structured environments using the three-dimensional normal distributions transform (3D-NDT). Örebro University, School of Science and Technology, Ph.D. Thesis, 2012BibTeX | DiVA  ]

Find the complete BibTeX record here.

 
clear