Publications

Journal Articles

2012

[J2]
Karl Granström, Christian Lundquist and Umut Orguner
Extended Target Tracking using a Gaussian-Mixture PHD Filter
Accepted for publication in IEEE Transactions on Aerospace and Electrical Systems, 2012.

2011

[J1]
Karl Granström, Thomas B. Schön, Juan I. Nieto and Fabio T. Ramos
Learning to close loops from range data
In International Journal of Robotics Research , Pp. 1728 - 1754, Vol. 30, No. 14, December 2011. Available online 22 June 2011.
[pdf] [Abstract] [BibTex]

Conference Papers

2012

[C10]
Karl Granström and Umut Orguner,
On the Reduction of Gaussian inverse Wishart mixtures
To appear in Proceedings of the International Conference on Information Fusion, Singapore, July 2012.

[C9]
Karl Granström and Umut Orguner,
Estimation and Maintenance of Measurement Rates for Multiple Extended Target Tracking
To appear in Proceedings of the International Conference on Information Fusion, Singapore, July 2012.

[C8]
Karl Granström, Christian Lundquist, Fredrik Gustafsson and Umut Orguner,
On Extended Target Tracking Using PHD Filters
To appear at the workshop Stochastic Geometry in SLAM, at 2012 International Conference on Robotics and Automation, St. Paul, MN, USA, May 2012.

2011

[C7]
Karl Granström, Christian Lundquist and Umut Orguner,
Tracking Rectangular and Elliptical Extended Targets Using Laser Measurements
In Proceedings of the International Conference on Information Fusion, Chicago, IL, USA, July 2011.
[pdf] [BibTex]

[C6]
Umut Orguner, Christian Lundquist and Karl Granström,
Extended Target Tracking with a Cardinalized Probability Hypothesis Density Filter
In Proceedings of the International Conference on Information Fusion, Chicago, IL, USA, July 2011.
Winner of Third Best Conference Paper Award
[pdf] [BibTex]

[C5]
Christian Lundquist, Karl Granström and Umut Orguner,
Estimating the Shape of Targets with a PHD Filter
In Proceedings of the International Conference on Information Fusion, Chicago, IL, USA, July 2011.
[pdf] [Abstract & BibTex]

2010

[C4]
Karl Granström and Thomas B. Schön,
Learning to Close the Loop from 3D Point Clouds
In Proceedings of the International Conference on Intelligent Robots and Systems, Taipei, Taiwan, October 2010.
[pdf] [info] [BibTex]

[C3]
Karl Granström, Christian Lundquist and Umut Orguner,
A Gaussian Mixture PHD filter for Extended Target Tracking
In Proceedings of the International Conference on Information Fusion, Edinburgh, UK, July 2010.
[pdf] [info] [BibTex] [Code]

2009

[C2]
Karl Granström, Jonas Callmer, Fabio Ramos and Juan Nieto,
Learning to Detect Loop Closure from Range Data
In Proceedings of 2009 International Conference on Robotics and Automation, Kobe, Japan, May 2009.
[pdf] [info] [BibTex]

2008

[C1]
Jonas Callmer, Karl Granström, Juan Nieto and Fabio Ramos,
Tree of Words for Visual Loop Closure Detection in Urban SLAM
In Proceedings of the 2008 Australasian Conference on Robotics and Automation. Canberra, Australia, December 2008.
[BibTex]

Technical Reports

2011

[R1]
Karl Granström and Umut Orguner
Properties and approximations of some matrix variate probability density functions
[pdf] [BibTex]

Theses

2011

[T2]
Karl Granström,
Loop detection and extended target tracking using laser data, Licentiate Thesis.
Presented February 18, 2011, 10.15 am in Visionen.
[pdf] [cover] [info]
Printed copy available upon request, e-mail your address to the author.

2008

[T1]
Jonas Callmer, Karl Granström,
Large Scale SLAM in an Urban Environment, Master's Thesis.
Presented May 16, 2008.
[pdf]