Malte Splietker

M. Sc. in Computer Science (University of Paderborn)
PhD Student in the Autonomous Intelligent Systems Group

Address:

Malte Splietker
Rheinische Friedrich-Wilhelms-Universität Bonn
Institut für Informatik VI
Friedrich-Hirzebruch-Allee 5
53115 Bonn

Tel: +49 (0) 228 73-60796

Fax: +49 (0) 228 73-4425

Email: splietker_at_ais.uni-bonn.de

Office: 0.052

Software Releases

Directional TSDF

The Directional Truncated Signed Distance Function (DTSDF) is an extension of the regular TSDF, that solves the issues of representing thin structure and overwrite of conflicting sections of the scene with new observations. The implementation is based on InfiniTAM and written in C++ and CUDA.
[code]

Publications

2023

• Rendering the Directional TSDF for Tracking and Multi-Sensor Registration with Point-To-Plane Scale ICP
  Malte Splietker and Sven Behnke,
  Robotics and Autonomous Systems, 162:104337, Elsevier, April 2023.
  [PDF | code]
  
  

2022

• Target Chase, Wall Building, and Fire Fighting: Autonomous UAVs of Team NimbRo at MBZIRC 2020
  Marius Beul, Max Schwarz, Jan Quenzel, Malte Splietker, Simon Bultmann, Daniel Schleich, Andre Rochow, Dmytro Pavlichenko, Radu Alexandru Rosu, Patrick Lowin, Bruno Scheider, Michael Schreiber, Finn Süberkrüb, and Sven Behnke,
  Field Robotics, vol. 2, pp. 807-842, May 2022.
  [PDF | project page]
  
  
• Autonomous Wall-building and Firefighting: Team NimbRo’s UGV Solution for MBZIRC 2020
  Christian Lenz, Jan Quenzel, Arul Selvam Periyasamy, Jan Razlaw, Andre Rochow, Malte Splietker, Michael Schreiber, Max Schwarz, Finn Süberkrüb, and Sven Behnke,
  Field Robotics, vol. 2, pp. 55-74, March 2022.
  [PDF | project page]
  
  

2021

• Rendering and Tracking the Directional TSDF: Modeling Surface Orientation for Coherent Maps
  Malte Splietker and Sven Behnke,
  In Proceedings of 10th European Conference on Mobile Robots (ECMR), Bonn, Germany, September 2021.
  [ PDF | project page | code]
  
  
• Autonomous Fire Fighting with a UAV-UGV team at MBZIRC 2020
  Jan Quenzel, Malte Splietker, Dmytro Pavlichenko, Daniel Schleich, Christian Lenz, Max Schwarz, Michael Schreiber, Marius Beul, and Sven Behnke,
  In Proceedings of International Conference on Unmanned Aircraft Systems (ICUAS), Athens, Greece, June 2021.
  [PDF | project page]
  
  

2020

• Visually Guided Balloon Popping with an Autonomous MAV at MBZIRC 2020
  Marius Beul, Simon Bultmann, Andre Rochow, Radu Alexandru Rosu, Daniel Schleich, Malte Splietker, and Sven Behnke,
  In Proceedings of IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), Abu Dhabi, UAE, November 2020.
  Best Paper Award
  [PDF | project page | presentation]
  
  

2019

• Directional TSDF: Modeling Surface Orientation for Coherent Meshes
  Malte Splietker and Sven Behnke,
  Accepted for IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Macau, China, November 2019.
  [PDF | project page | code]