Staff
M.Sc. M.Sc. Klaas Klasing
Contact Information
E-mail: 
Phone: +49-89-289-23409
Room: N3516
Office hours: By appointment

 

Research Interests
  • Learning of Object Representations (in 3D Point Clouds)
  • Clustering and Segmentation (of 3D Point Clouds)
  • Sampling-based Path Planning
Working Fields

I work in the cluster of excellence Cognition for Technical Systems (CoTeSys) at TUM.

 

Be sure to check out these projects:

  • The Autonomous City Explorer (ACE) [completed in Aug 2008]

    Over the course of almost two years we built an autonomous robot that successfully found its way from TUM to the central square of Munich by asking pedestrians for directions (no GPS, no map knowledge!).

    Check out the project website www.ace-robot.de for more info, videos, pictures, papers etc.

  • PP - A simple C++ Path Planning library

    Following work that I did on parallelized sampling-based path planning I decided to clean up and release the code as a proper easy-to-use cross platform library. The library is still in a beta state and needs more documentation and testing but already provides a very useful tool for anyone interested in sampling-based path planning.

    Check out www.lsr.ei.tum.de/research/software/pp/ for more information.
Teaching
  • SS 09:
  • SS 08:
    • Computational Intelligence (COINT)
      Lecture

  • SS 07:
    • Computational Intelligence (COINT)
      Discussion section

  • WS 06/07:
    • Regelungs- und Steuerungstechnik 2 / Nonlinear Systems and Control (RST2)
      Discussion section

 

Publications
1. A. Bauer, K. Klasing, G. Lidoris, Q. Mühlbauer, F. Rohrmüller, S. Sosnowski, T. Xu, K. Kühnlenz, D. Wollherr, M. Buss , The Autonomous City Explorer: Towards Natural Human-Robot Interaction in Urban Environments , International Journal of Social Robotics 1 (2009) , no. 2 , 127-140 .
2. A. Bauer, K. Klasing, T. Xu, S. Sosnowski, G. Lidoris, Q. Mühlbauer, T. Zhang, F. Rohrmüller, K. Kühnlenz, D. Wollherr, M. Buss , The Autonomous City Explorer Project (Video) , Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) , 2009 , p. 1595-1596 .
3. K. Klasing , Parallelized Sampling-based Path Planning for Tree-structured Rigid Robots, 2009 .
4. K. Klasing, D. Althoff, D. Wollherr, M. Buss , Comparison of Surface Normal Estimation Methods for Range Sensing Applications , Proceedings of the 2009 IEEE International Conference on Robotics and Automation (ICRA) , Kobe, Japan , 2009 .
5. K. Klasing, D. Wollherr, M. Buss , Realtime Segmentation of Range Data Using Continuous Nearest Neighbors , Proceedings of the 2009 IEEE International Conference on Robotics and Automation (ICRA) , Kobe, Japan , 2009 .
6. K. Klasing, D. Wollherr, M. Buss , Joint Dominance Coefficients: A Sensitivity-based Measure for Ranking Robotic Degrees of Freedom , Advances in Robotics Research , (T. Kröger and F.M. Wahl, ed.) , Springer Verlag , 2009 , p. 1-10 .
7. K. Klasing, D. Wollherr, M. Buss , A Clustering Method for Efficient Segmentation of 3D Laser Data , Proceedings of the 2008 IEEE International Conference on Robotics and Automation (ICRA) , Pasadena, CA, USA , 2008 .
8. K. Klasing, G. Lidoris, A. Bauer, F. Rohrmüller, D. Wollherr, M. Buss , The Autonomous City Explorer: Towards Semantic Navigation in Urban Environments , Proceedings of the 1st International Workshop on Cognition for Technical Systems , Oct 6 - 7, Munich, Germany , 2008 .
9. G. Lidoris, K. Klasing, A. Bauer, T. Xu, K. Kühnlenz, D. Wollherr, M. Buss , The Autonomous City Explorer Project: Aims and System Overview , Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , Oct 29 - Nov 2, San Diego, CA, USA , 2007 .
10. K. Klasing, D. Wollherr, M. Buss , Cell-based Probabilistic Roadmaps (CPRM) for Efficient Path Planning in Large Environments , Proceedings of the 2007 International Conference on Advanced Robotics (ICAR) , Jeju Island, Korea , 2007 .