Education

Curriculum VitaePersonal DataName:Patric JensfeltBorn:Stockholm,Sweden,May1972Citizenship:SwedishAddress:Olof Palmes gata14,1trSE-11137Stockholm,SwedenAffiliation:Centre for Autonomous SystemsRoyal Institute of TechnologySE-10044Stockholm,SwedenPhone:+46(0)87906731Fax:+46(0)87230302E-mail:patric@kth.seURL:www.cas.kth.se/˜patricResearch InterestsNavigation and localization for mobile robots,mapping of unknown environments,human assisted/augmented map-ping and systems integration.Education1996MSc Engineering Physics,School of Engineering PhysicsRoyal Institute of Technology,Stockholm,SwedenThesis:“Sensory processing for Control of a Simple Robot Model”2001PhD in Automatic ControlDepartment of Signal,Sensors and SystemsRoyal Institute of Technology,Stockholm,SwedenDissertation:“Approaches to Mobile Robot Localization in Indoor Environments”Supervisor:Prof.Bo WahlbergHonors and Awards2006Nominated for“Slips-priset”at CSC,KTH20062002Nominated for best teacher by students at Electrical Engineering,KTH1997PhD student position of excellence(“Excellenstj¨a nst”)1997Honary scholarship for the best student of the year at Engineering Physics,KTH 1996The Automatic Control scholarship1995Henrik G¨o rassons Sandviken Grant1995,1996KTH scholarship for outstanding results in studiesProfessional Experience2004-Co-funder of Intelligent Machines ABAug2002-Aug2004Project leader of industrial project with ABBMay2002-Feb2003Project leader of industrial project with Stockholm International FairsJul2001-Researcher at the Centre for Autonomous Systems,KTHSep1998-Oct1998Guest researcher at DaimlerChrysler Research,BerlinPatentsFloor marking robot with Stockholm International FairsProgram Committees etc•Associate Editor for the IEEE RAS Conference Editorial Board•Robotics:Science and Systems(RSS)2005,2006,2007•International Conference on Robotics and Automation(ICRA)2005ReviewingIEEE Transactions on Robotics(and Automation)International Journal of Robotic ResearchRobotics and Autonomous SystemsIEEE Pattern Analysis and Machine IntelligenceIEEE Transactions on Systems,Man and cyberneticsAutomaticaInternational Conference on Robotics and Automation(ICRA)Robotics:Science and Systems(RSS)Human Robot Interaction Conference(HRI)EURON(European Robotic Network)project proposal reviewerThesis Examiner for•Christoffer Valgren,¨Orebro Univeritet,2007,“Topological Mapping and Localization Using Omnidirectional Vision”(Licentiate thesis)•Kirill Kouzoubov,The Australian National University,2006,“Hybrid Topological-Metric Simultaneous Lo-laization and Mapping”•Juan Nieto,The University of Sydney,2005,“Detailed Environment Representation for the SLAM Problem”TeachingWinter2008Applied Estimation EL3320(planned)Sep2007-Oct2007Scientific Programming EL2310Sep2007-Oct2007Responsible and lecturer for Artificial Intelligence DD2380Mar2007-May2007Responsible and lecturer for Robotics and Autonomous Systems2D1426(scheduled) Sep2006-Nov2006Responsible and lecturer for Artificial Intelligence2D1380Sep2005-Nov2005Co-responsible and co-lecturer Artificial Intelligence2D1380May2004Invited lecturer,An8h introduction to SLAM,Alcala University,Madrid,SpainAug2002Lecturer1st Summer School on Simultaneous Localization and MappingJan2002-Mar2002Responsible and lecturer Introduction to Automatic Control2E1200/2E1211Sep1995-Jun2001Teaching various courses in Automatic Control at S3,KTHSupervision•Kristoffer Sj¨o(PhD,from2007),“Object Based Representations of Space”•Dorian Galv´e z Lopez(MSc,from2007),“Combining object recognition and metric mapping for spatial mod-eling with mobile robots”•Emil Lundstr¨o m(MSc,from2006),“Evaluation for Scan Matching Methods”•Rasmus Ahlberg(MSc,from2006),“Exploration Strategies for SLAM”•Federico Bertolli(internship,2005),“Visual Scan Matching for SLAM”•Martin Pallin(MSc,from2005),”Visual Behaviours for a Field Robot”•Johan Svahn(MSc2004)”Vision Based Autonomous Road Following for a Wheeled Outdoor Robot”•Paul Sundvall(co-sup PhD,from2004),“Detecting and handling errors for mobile robots”•Elin Anna Topp(MSc,2003)“Interface for Human Machine Interaction”•Gunnar Gullstrand(M.Sc.2003)“Obstacle Avoidance for a Mobile Robot”•Oliver Wulf(internship2001)“Automic Recharing System”•Marco Seiz(M.Sc.2000)“Active Exploration for Feature Based Global Localization”•Uwe Schneider(internship1998)“Interfacing a powered wheelchair”•Fabrice Pourraz(internship1997)“Sensors Integration for Grasping”•Daniel Brolund(MSc,1997)“Fiberoptic Guided Missiles:A Missile Seeker Model and Methods for Fusing seeker Data in a System with Multiple Missiles”•Christopho Brun-Franc(MSc,1997)“Mobile Robot Obstacle Avoidance Using Sonar Sensors”ReferencesRefereed Journal Articles[1]O.M.Mozos,R.Triebel,P.Jensfelt,and W.Burgard,“Semantic labeling of places using information extractedfrom laser and vision sensor data,”Robotics and Autonomous Systems Journal,vol.55,pp.391–402,May2007.[2]S.Ekvall,D.Kragic,and P.Jensfelt,“Object detection and mapping for service robot tasks,”Robotica:Interna-tional Journal of Information,Education and Research in Robotics and Artificial Intelligence,vol.25,pp.175–187,March/April2007.[3]G.-J.M.Kruijff,H.Zender,P.Jensfelt,and H.I.Christensen,“Situated dialogue and spatial organization:What,where...and why?,”International Journal of Advanced Robotic Systems,Special Issue on Human and Robot Interactive Communication,vol.4,Mar.2007.[4]P.Jensfelt,G.Gullstrand,and E.F¨o rell,“A mobile robot system for automaticfloor marking,”Journal of FieldRobotics,vol.23,pp.441–459,June/July2006.[5]P.Jensfelt and S.Kristensen,“Active global localisation for a mobile robot using multiple hypothesis tracking,”IEEE Transactions on Robotics and Automation,vol.17,pp.748–760,Oct.2001.[6]P.Jensfelt and H.I.Christensen,“Pose tracking using laser scanning and minimalistic environmental models,”IEEE Transactions on Robotics and Automation,vol.17,pp.138–147,Apr.2001.Refereed Conference Articles[7]H.Zender,P.Jensfelt,and G.-J.M.Kruijff,“Human-and situation-aware people following,”in Proc.of the16thIEEE International Symposium on Robot and Human Interactive Communication(RO-MAN2007),(Jeju Island, Korea),August2007.[8]H.Zender,P.Jensfelt,O.M.Mozos,G.-J.M.Kruijff,and W.Burgard,“An integrated robotic systen for spa-tial understanding and situated interaction in indoor environments,”in In Proc.of the Conference on Artificial Intelligence(AAAI),(Vancouver,British Columbia,Canada),July2007.[9]L.Paz,P.Jensfelt,J.Tard´o s,and J.Neira,“EKF SLAM updates in O(n)with Divide and Conquer SLAM,”inProc.of the IEEE International Conference on Robotics and Automation(ICRA’07),(Rome,Italy),Apr.2007. [10]F.Bertolli,P.Jensfelt,and H.I.Christensen,“Slam using visual scan-matching with distinguishable3d points,”in Proc.of the IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS’05),2006.[11]S.Ekvall,P.Jensfelt,and D.Kragic,“Integrating active mobile robot object recognition and slam in natural envi-ronments,”in Proc.of the IEEE/RSJ International Conference on Robotics and Automation(IROS’06),(Beijing, China),2006.[12]S.Frintrop,P.Jensfelt,and H.I.Christensen,“Attentional landmark selection for visual slam,”in Proc.of theIEEE/RSJ International Conference on Intelligent Robots and Systems(IROS’06),(Beijing,China),2006. [13]E.Pacchierotti,H.Christensen,and P.Jensfelt,“Design of an office guide robot for social interaction studies,”in Proc.of the IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS’06),2006.[14]A.Pronobis,B.Caputo,P.Jensfelt,and H.Christensen,“A discriminative approach to robust visual place recog-nition,”in Proc.of the IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS’06),2006.[15]S.Frintrop,P.Jensfelt,and H.I.Christensen,“Pay attention when selecting features,”in Intl.Conf.of PatternRecognition(ICPR’06),(Hong Kong),IEEE/IARP,2006.[16]G.-J.M.Kruijff,H.Zender,P.Jensfelt,and H.I.Christensen,“Situated dialogue and understanding spatialorganization:Knowing what is where and what you can do there,”in Proc.of IEEE Workshop on Robot and Human Interactive Communication(ROMAN),2006.[17]E.Pacchierotti,H.Christensen,and P.Jensfelt,“Evaluation of passing distance for social robots,”in IEEEWorkshop on Robot and Human Interactive Communication(ROMAN),(Hartfordshire,UK),Sept.2006. [18]P.Sundvall,P.Jensfelt,and B.Wahlberg,“Fault detection using redundant navigation modules,”in Proc.of the6th IFAC Symposium on Fault Detection,Supervision and Safety of Technical Processes,SAFEPROCESS2006, 2006.[19]P.Jensfelt,D.Kragic,J.Folkesson,and M.Bj¨o rkman,“A framework for vision based bearing only3D SLAM,”in Proc.of the IEEE International Conference on Robotics and Automation(ICRA’06),(Orlando,FL),May2006.[20]P.Sundvall and P.Jensfelt,“Fault detection for mobile robots using redundant positioning systems,”in Proc.ofthe IEEE International Conference on Robotics and Automation(ICRA’06),2006.[21]G.L´o pez-Nicol´a s,C.Sag¨u´e s,J.Guerrero,D.Kragic,and P.Jensfelt,“Nonholonomic epipolar visual servoing,”in Proc.of the IEEE International Conference on Robotics and Automation(ICRA’06),2006.[22]G.-J.M.Kruijff,H.Zender,P.Jensfelt,and H.I.Christensen,“Clarification dialogues in human-augmentedmapping,”in Proc.of the1st Annual Conference on Human-Robot Interaction(HRI’06),(Salt Lake City,UT), Mar.2006.[23]P.Jensfelt,J.Folkesson,D.Kragic,and H.I.Christensen,“Exploiting distinguishable image features in roboticmapping and localization,”in1st European Robotics Symposium(EUROS-06)(H.I.Christensen,ed.),(Palermo, Italy),Mar.2006.[24]J.Folkesson,P.Jensfelt,and H.Christensen,“Graphical SLAM using vision and the measurement subspace,”inProc.of the IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS’05),Aug.2005. [25]E.Pacchierotti,H.Christensen,and P.Jensfelt,“Embodied social interaction in hallway settings:a user study,”in IEEE Workshop on Robot and Human Interactive Communication(ROMAN),(Nashville,TN),pp.164–171, Aug.2005.[26]P.Jensfelt,G.Gullstrand,and E.F¨o rell,“A system for automatic marking offloors in very large spaces,”inProc.of the International Conference on Field and Service Robotics(FSR’05),(July),2005.[27]E.Pacchierotti,H.I.Christensen,and P.Jensfelt,“Embodied social interaction for service robots in hallwayenvironments,”in Proc.of the International Conference on Field and Service Robotics(FSR’05),July2005. [28]J.Folkesson,P.Jensfelt,and H.Christensen,“Vision SLAM in the measurement subspace,”in Proc.of the IEEEInternational Conference on Robotics and Automation(ICRA’05),(Barcelona,Spain),Apr.2005.[29]E.A.Topp,D.Kragic,P.Jensfelt,and H.I.Christensen,“An interactive interface for service robots,”in Pro-ceedings of the IEEE International Conference on Robotics and Automation(ICRA’04),(New Orleans,LA,USA), pp.3469–3475,Apr.2004.[30]S.Kristensen and P.Jensfelt,“An experimental comparison of localisation methods,the mhl sessions,”in Proc.ofthe IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS’03),pp.992–997,Oct.2003.[31]L.Petersson,P.Jensfelt,D.Tell,M.Strandberg,D.Kragi´c,and H.I.Christensen,“Systems integration forreal–world manipulation tasks,”in Proc.IEEE International Conference on Robotics and Automation(ICRA’02), vol.3,pp.2500–2505,2002.[32]M.Seiz,P.Jensfelt,and H.I.Christensen,“Active exploration for feature based global localization,”in Proc.ofthe IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS’00)”,vol.1,(Takamatsu,Japan), pp.281–287,2000.[33]P.Jensfelt,D.Austin,and H.I.Christensen,“Toward task oriented localization,”in The6th Int.Conf.on Intel-ligent Autonomous Systems(IAS-6),pp.612–619,July2000.[34]P.Jensfelt,O.Wijk,D.Austin,and M.Andersson,“Experiments on augmenting condensation for mobile robotlocalization,”in Proc.of the IEEE International Conference on Robotics and Automation(ICRA’00),vol.3,(San Francisco,CA,USA),pp.2518–2524,May2000.[35]P.Jensfelt,D.Austin,O.Wijk,and M.Andersson,“Feature based condensation for mobile robot localization,”in Proc.of the IEEE International Conference on Robotics and Automation(ICRA’00),vol.3,(San Francisco, CA,USA),May2000.[36]D.Austin and P.Jensfelt,“Using multiple gaussian hypotheses to represent probability distributions for mobilerobot localization,”in Proc.of the IEEE International Conference on Robotics and Automation(ICRA’00),vol.2, (San Francisco,CA,USA),pp.1036–1041,May2000.[37]P.Jensfelt and S.Kristensen,“Active global localisation for a mobile robot using multiple hypothesis track-ing,”in Proc.of the IJCAI-99Workshop on Reasoning with Uncertainty in Robot Navigation(avail at http://www.dsv.su.se/ijcai-99/),(Stockholm,Sweden),pp.13–22,Aug.1999.[38]P.Jensfelt and H.Christensen,“Laser based pose tracking,”in Proc.of the IEEE International Conference onRobotics and Automation(ICRA’99),vol.4,(Detroit,Michigan,USA),pp.2994–3000,IEEE,May1999. [39]O.Wijk,P.Jensfelt,and H.Christensen,“Triangulation based fusion of ultrasonic sensor data,”in Proc.of theIEEE International Conference on Robotics and Automation(ICRA’98),vol.4,(Leuven,Belgium),pp.3419–24, IEEE,May1998.[40]P.Jensfelt and H.Christensen,“Laser based position acquisition and tracking in an indoor environment,”inProc.of the International Symposium on Robotics and Automation,vol.1,(Saltillo,Coahuila,Mexico),pp.331–338,IEEE,Dec.1998.Misc[41]O.M.Mozos,P.Jensfelt,H.Zender,G.-J.Kruijff,and W.Burgard,“From labels to semantics:An integratedsystem for conceptual spatial representations of indoor environments for mobile robots,”in Proc.of the Workshop ”Semantic information in robotics”at the IEEE International Conference on Robotics and Automation(ICRA’07), (Rome,Italy),Apr.2007.[42]P.Jensfelt,S.Ekvall,D.Kragic,and D.Aarno,“Integrating slam and object detection for service robot tasks,”in IROS2005Workshop on Mobile Manipulators:Basic Techniques,New Trends and Applications,Edmonton, Canada:IEEE/RSJ,2005.[43]P.J.D.Kragic,S.Ekvall and D.Aarno,“Sensor integration and task planning for mobile manipulation,”in IROS2004Workshop on Issues and Approaches to Task Level Control(D.Botturi and P.Fiorini,eds.),Sendai,Japan: IEEE/RSJ,2004.[44]P.Jensfelt,H.Christensen,and G.Zunino,“Integrated systems for mapping and localization,”in ICRA-02SLAMWorkshop(J.Leonard and H.Durrant-Whyte,eds.),IEEE,May2002.Theses[45]P.Jensfelt,Approaches to Mobile Robot Localization in Indoor Environments.PhD thesis,Sig-nal,Sensors and Systems(S3),Royal Institute of Technology,SE-10044Stockholm,Sweden, http://www.cas.kth.se/˜patric/publications/phd.html,2001.[46]P.Jensfelt,“Localization using laser scanning and minimalistic environmental models,”licentiate thesis,Auto-matic Control,Royal Institute of Technology,SE-10044Stockholm,Sweden,Apr.1999.。