This page is still under construction. Not all of my papers are listed yet. Please refer to my Google Scholar page or contact me for a complete list.

Journal Articles

T. Łuczyński, M. Pfingsthorn and A. Birk. The Pinax-Model for Accurate and Efficient Refraction Correction of Underwater Cameras in Flat-Pane Housings. Ocean Engineering, Vol. 133, pp. 9-22, March 2017. Open Access
J. Kalwa, D. Tietjen, M. Carreiro-Silva, J. Fontes, L. Brignone, N. Gracias, P. Ridao, M. Pfingsthorn, A. Birk, T. Glotzbach, S. Eckstein, M. Caccia, J. Alves, T. Furfaro, J. Ribeiro and A. Pascoal. The European Project MORPH: Distributed UUV Systems for Multimodal, 3D Underwater Surveys. Marine Technology Society Journal, vol.50, no.4, pp. 26-41, July 2016.
M. Pfingsthorn and A. Birk. Generalized Graph SLAM: Solving Local and Global Ambiguities through Multimodal and Hyperedge Constraints. The International Journal of Robotics Research, 35: 601-630, May 2016. Open Access
M. Pfingsthorn and A. Birk. Simultaneous localization and mapping with multimodal probability distributions. The International Journal of Robotics Research, 32: 143-171, February 2013. Open Access
A. Birk, B. Wiggerich, H. Bülow, M. Pfingsthorn and S. Schwertfeger. Safety, Security, and Rescue Missions with an Unmanned Aerial Vehicle (UAV): Aerial Mosaicking and Autonomous Flight at the 2009 European Land Robots Trials (ELROB) and the 2010 Response Robot Evaluation Exercises (RREE). Journal of Intelligent & Robotic Systems, Volume 64, Issue 1, pp 57-76, January 2011.
A. Birk, K. Pathak, N. Vaskevicius, M. Pfingsthorn, J. Poppinga and S. Schwertfeger. Surface Representations for 3D Mapping: A Case for a Paradigm Shift. KI - Künstliche Intelligenz, Volume 24, Issue 3, pp 249-254, September 2010.
K. Pathak, A. Birk, N. Vaskevicius, M. Pfingsthorn, S. Schwertfeger and J. Poppinga. Online three-dimensional SLAM by registration of large planar surface segments and closed-form pose-graph relaxation. Journal of Field Robotics, Special Issue: Three-Dimensional Mapping, Part 3, Volume 27, Issue 1, pages 52–84, January 2010.

Book Chapters

A. Birk and M. Pfingsthorn. Simultaneous Localization and Mapping (SLAM). Wiley Encyclopedia of Electrical and Electronics Engineering, John Wiley and Sons, November 2016.

Conference and Workshop Papers (indexed)

M. Thosar, C. Müller, S. Zug and M. Pfingsthorn. Towards a Prototypical Approach to Tool-Use Improvisation. International Conference on Autonomous Agents and MultiAgent Systems (AAMAS), May 2019.
A. Gerka, C. Lins, M. Pfingsthorn, M. Eichelberg, S. Müller, C. Stolle and A. Hein. A Clustering-based Approach to Determine a Standardized Statistic for Daily Activities of Elderly Living Alone. International Joint Conference on Biomedical Engineering Systems and Technologies: HEALTHINF, February 2019.
A. Gerka, M. Pfingsthorn, C. Lüpkes, K. Sparenberg, M. Frenken, C. Lins and A. Hein. Detecting the Number of Persons in the Bed Area to Enhance the Safety of Artificially Ventilated Persons. IEEE International Conference on e-Health Networking, Applications and Services (Healthcom), September 2018.
C. Lins, S. Müller, M. Pfingsthorn, M. Eichelberg, A. Gerka and A. Hein. Unsupervised Temporal Segmentation of Skeletal Motion Data using Joint Distance Representation. 11th International Conference on Health Informatics (Healthinf 2018), January 2018.
T. Łuczyński, M. Pfingsthorn and A. Birk. Image Rectification with the Pinax Camera Model in Underwater Stereo Systems with Verged Cameras. IEEE/MTS OCEANS 2017 Anchorage, IEEE Press, September 2017.
T. Fromm, C. Müller, M. Pfingsthorn, A. Birk and P. Di Lillo. Efficient Continuous System Integration and Validation for Deep-Sea Robotics Applications. IEEE/MTS OCEANS 2017 Aberdeen, IEEE Press, June 2017.
J. Gancet, P. Weiss, G. Antonelli, M. Pfingsthorn, S. Calinon, A. Turetta, C. Walen, D. Urbina, S. Govindaraj, C. Müller, X. Martinez, T. Fromm, B. Chemisky, G. Indiveri, G. Casalino, P. Di Lillo, E. Simetti, D. De Palma, A. Birk, A. Tanwani, I. Havoutis, A. Caffaz, L. Guilpain and P. Letier. Dexterous Undersea Interventions with Far Distance Onshore Supervision: The DexROV Project. 10th IFAC Conference on Control Applications in Marine Systems, CAMS, September 2016. Open Access
A. Gomez Chavez, J. Fontes, P. Afonso, M. Pfingsthorn and A. Birk. Automated Species Counting using a Hierarchical Classification Approach with Haar Cascades and Multi-Descriptor Random Forests. IEEE/MTS OCEANS 2016 Shanghai, IEEE Press, April 2016.
M. Pfingsthorn, R. Rathnam, T. Luczynski and A. Birk. Full 3D Navigation Correction using Low Frequency Visual Tracking with a Stereo Camera. IEEE/MTS OCEANS 2016 Shanghai, IEEE Press, April 2016.
A. Gomez Chavez, M. Pfingsthorn, R. Rathnam and A. Birk. Visual Speed Adaptation for Improved Sensor Coverage in a Multi-Vehicle Survey Mission. IEEE/MTS OCEANS 2016 Shanghai, IEEE Press, April 2016.
J. Gancet, D. Urbina, P. Letier, M. Ilzkovitz, P. Weiss, F. Gauch, B. Chemisky, G. Antonelli, G. Casalino, G. Indiveri, A. Birk, M. Pfingsthorn, S. Calinon, A. Turetta, C. Walen and L. Guilpain. DexROV: Enabling effective dexterous ROV operations in presence of communication latency. IEEE/MTS OCEANS 2015 Genova, Italy, IEEE Press, May 2015.
I. Enchev, M. Pfingsthorn, T. Luczynski, I. Sokolovski, A. Birk and D. Tietjen. Underwater place recognition in noisy stereo data using FAB-MAP with a multimodal vocabulary from 2D texture and 3D surface descriptors. IEEE/MTS OCEANS 2015 Genova, Italy, IEEE Press, May 2015.
A. Gomez Chavez, M. Pfingsthorn, A. Birk, I. Rendulić and N. Misković. Visual diver detection using multi-descriptor nearest-class-mean random forests in the context of underwater Human Robot Interaction (HRI). IEEE/MTS OCEANS 2015 Genova, Italy, IEEE Press, May 2015.
J. Gancet, D. Urbina, P. Letier, M. Ilzkovitz, P. Weiss, F. Gauch, G. Antonelli, G. Casalino, G. Indiveri, A. Birk, M. Pfingsthorn, S. Calinon, A. Tanwani, A. Turetta, C. Walen and L. Guilpain. DexROV: Dexterous Undersea Inspection and Maintenance in Presence of Communication Latencies. 4th IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles, NGCUV, April 2015.
M. Pfingsthorn, A. Birk, F. Ferreira, G. Veruggio, M. Caccia and G. Bruzzone. Large-Scale Image Mosaicking using Multimodal Hyperedge Constraints from Multiple Registration Methods within the Generalized Graph SLAM Framework. International Conference on Intelligent Robots and Systems (IROS), IEEE Press, September 2014.
M. Pfingsthorn and A. Birk. Representing and solving local and global ambiguities as multimodal and hyperedge constraints in a generalized graph SLAM framework. International Conference on Robotics and Automation (ICRA), IEEE Press, June 2014. Conference Best Paper Finalist

Workshop Papers (not indexed)

P. Gliesche, C. Kowalski, T. Krahn, S. Drolshagen, A. Hein and M. Pfingsthorn. A qualitative survey on challenges and use-cases for robotic assistants in nursing care. Workshop on Robots for Assisted Living at IROS 2018, October 2018.
U. Gruenefeld, T. Stratmann, L. Prädel, M. Pfingsthorn and W. Heuten. BuldingBlocks: Head-mounted Virtual Reality for Robot Interaction in Large Non-Expert Audiences. 4th Workshop on Public Space Human-Robot Interaction (PubRob 2018) at MobileHCI 2018, September 2018.


M. Pfingsthorn. Generalized Simultaneous Localization and Mapping (SLAM) on Graphs with Multimodal Probabilities and Hyperedges. PhD Thesis, Jacobs University Bremen, awarded special distinction, March 2014. Open Access
M. Pfingsthorn and B. Slamet. ManifoldSLAM: a Multi-Agent Simultaneous Localization and Mapping System for the RoboCup Rescue Virtual Robots Competition. M.Sc. Thesis, Universiteit van Amsterdam, December 2006. Open Access
M. Pfingsthorn. Towards a GUI for Adjustable Autonomy. B.Sc. Thesis, International University Bremen, June 2004.
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