Publications

2025

Helin Cao and Sven Behnke:
DiffSSC: Semantic LiDAR Scan Completion using Denoising Diffusion Probabilistic Models
Accepted IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hangzhou, China, October 2025. 

Helin Cao, Rafael Materla, and Sven Behnke:
SWA-SOP: Spatially-aware Window Attention for Semantic Occupancy Prediction in Autonomous Driving
Accepted for IEEE International Conference on Systems, Man, and Cybernetics (SMC), Vienna, Austria, October 2025.

Helin Cao and Sven Behnke:
OC-SOP: Enhancing Vision-Based 3D Semantic Occupancy Prediction by Object-Centric Awareness
Accepted for IEEE International Conference on Systems, Man, and Cybernetics (SMC), Vienna, Austria, October 2025.

Noel Jose Rodrigues Vicente. Enrique Lehner, Angel Villar-Corrales, Jan Nogga, and Sven Behnke:
VideoPCDNet: Video Parsing and Prediction with Phase Correlation Networks
Accepted for 34th International Conference on Artificial Neural Networks (ICANN), Kaunas, Lithuania , September 2025.

Max Schwarz and Sven Behnke:
Foveated Compression for Immersive Telepresence Visualization
Accepted for IEEE Conference on Telepresence (Telepresence), Leiden, Netherlands, September 2025.

Mayara Bonani, Max Schwarz, and Sven Behnke:
Learning from SAM: Harnessing a Foundation Model for Sim2Real Adaptation by Regularization
Accepted for IEEE 21st International Conference on Automation Science and Engineering (CASE), Los Angeles, USA, August 2025.

Vincent Schönbach, Marvin Wiedemann, Raphael Memmesheimer, Malte Mosbach, and Sven Behnke:
Integration of the TIAGo Robot into Isaac Sim with Mecanum Drive Modeling and Learned S-Curve Velocity Profiles
Accepted for IEEE 21st International Conference on Automation Science and Engineering (CASE), Los Angeles, USA, August 2025.

Grzegorz Ficht, Luis Denninger, and Sven Behnke:
AGILOped: Agile Open-Source Humanoid Robot for Research
Accepted for 10th IEEE International Conference on Advanced Robotics and Mechatronics (ARM), Portsmouth, UK, August 2025.

Angel Villar-Corrales and Sven Behnke:
PlaySlot: Learning Inverse Latent Dynamics for Controllable Object-Centric Video Prediction and Planning
Accepted for International Conference on Machine Learning (ICML), Vancouver, Canada, July 2025.

Malte Mosbach, Jan Niklas Ewertz, Angel Villar-Corrales, and Sven Behnke:
SOLD: Slot Object-Centric Latent Dynamics Models for Relational Manipulation Learning from Pixels
Accepted for International Conference on Machine Learning (ICML), Vancouver, Canada, July 2025.

Yihao Wang, Raphael Memmesheimer, and Sven Behnke:
LIAM: Multimodal Transformer for Language Instructions, Images, Actions and Semantic Maps
Accepted for 19th International Conference on Intelligent Autonomous Systems (IAS), Genoa, Italy, June 2025.

Moritz Heep, Sven Behnke, and Eduard Zell:
Feature-Preserving Mesh Decimation for Normal Integration
Accepted for IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), Nashville TN, USA, June 2025.
[Project Page]

Malte Mosbach and Sven Behnke:
Prompt-responsive Object Retrieval with Memory-augmented Student-Teacher Learning
Accepted for IEEE International Conference on Robotics and Automation (ICRA), Atlanta, USA, May 2025.
[Video] [Project Page]

Sven Behnke:
Towards Conscious Service Robots
In: Science for a Better Tomorrow: Curious 2024 Insights Actions, Springer, to appear 2025.

Raphael Memmesheimer, Martina Overbeck, Bjoern Kral, Lea Steffen, Sven Behnke, Martin Gersch, and Arne Roennau:
Cleaning Robots in Public Spaces: A Survey and Proposal for Benchmarking Based on Stakeholders Interviews
In Proceedings of 27th RoboCup International Symposium, Eindhoven, Netherlands, July 2024.
In: RoboCup 2024: Robot World Cup XXVII, Lecture Notes in Computer Science (LNCS), vol. 15570, pp. 373-385, Springer, April 2025.

Raphael Memmesheimer, Jan Nogga, Bastian Pätzold, Evgenii Kruzhkov, Simon Bultmann, Michael Schreiber, Jonas Bode, Bertan Karacora, Juhui Park, Alena Savinykh, and Sven Behnke:
RoboCup@Home 2024 OPL Winner NimbRo: Anthropomorphic Service Robots using Foundation Models for Perception and Planning
In: RoboCup 2024: Robot World Cup XXVII, Lecture Notes in Computer Science (LNCS), vol. 15570, pp. 515-527, Springer, April 2025.

Christian Lenz, Max Schwarz, Andre Rochow, Bastian Pätzold, Raphael Memmesheimer, Michael Schreiber, and Sven Behnke:
NimbRo wins ANA Avatar XPRIZE Immersive Telepresence Competition: Human-Centric Evaluation and Lessons Learned
International Journal of Social Robotics (SORO), 17(3): 337-361, Springer, March 2025.
[Project Page]

Kris Hauser, Eleanor ‘Nell’ Watson, Joonbum Bae, Josh Bankston, Sven Behnke, Bill Borgia, Manuel G. Catalano, Stefano Dafarra, Jan B. F. van Erp, Thomas Ferris, Jeremy Fishel, Guy Hoffman, Serena Ivaldi, Fumio Kanehiro, Abderrahmane Kheddar, Gaëlle Lannuzel, Jacquelyn Ford Morie, Patrick Naughton, Steve NGuyen, Paul Oh, Taskin Padir, Jim Pippine, Jaeheung Park, Jean Vaz, Daniele Pucci, Peter Whitney, Peggy Wu, and David Locke:
Analysis and Perspectives on the ANA Avatar XPRIZE Competition
International Journal of Social Robotics (SORO), 17(3): 473-504, March 2025.

Jürgen Beyerer, Elsa Kirchner, Elisabeth André, Sven Behnke, Gunnar Bloss, Jeronimo Dzaack, Thomas Egloffstein, Hans W. Griepentrog, Michael Gustmann, Verena V. Hafner, Dorothea Koert, Andreas Nüchter, Jan Seyler, Sirko Straube, Igor Tchouchenkov, Oskar von Stryk, Armin Wedler, Karin Wolf-Ostermann, and Martin Zimmermann
KI in der Robotik: Flexible und anpassbare Systeme durch interaktives Lernen
Whitepaper, Platform Lernende Systeme (PLS), AG Lernfähige Robotiksysteme, March 2025.

Felix Esser, Elias Marks, Federico Magistri, Jan Weyler, Simon Bultmann, Tobias Zaenker, Alireza Ahmadi, Michael Schreiber, Heiner Kuhlmann, Chris McCool, Marija Popovic, Cyrill Stachniss, Sven Behnke, Maren Bennewitz, and Lasse Klingbeil:
Automated Leaf-Level Inspection of Crops Combining UAV and UGV Robots
In Proceedings of European Robotics Forum (ERF), Stuttgart, Germany, March 2025.
[Video]

Simon Bultmann, Raphael Memmesheimer, Jan Nogga, Julian Hau, and Sven Behnke:
Anticipating Human Behavior for Safe and Efficient Collaborative Mobile Manipulation
In Proceedings of 1st German Robotics Conference (GRC), Nuremberg, Germany, March 2025.
[Video]

Dmytro Pavlichenko and Sven Behnke:
Dexterous Pre-grasp Manipulation for Human-like Functional Categorical Grasping: Deep Reinforcement Learning and Grasp Representations
IEEE Transactions on Automation Science and Engineering (T-ASE), published online 2025.
[Video]

Eva Katharina Bauer, Simon Bultmann, and Sven Behnke:
Marker-free Human Gait Analysis using a Smart Edge Sensor System
In Proceedings of IEEE/SICE International Symposium on System Integration (SII), Munich, Germany, January 2025.

Svetlana Seliunina, Artem Otelepko, Raphael Memmesheimer, and Sven Behnke:
Person Segmentation and Action Classification for Multi-Channel Hemisphere Field of View LiDAR Sensors
In Proceedings of IEEE/SICE International Symposium on System Integration (SII), Munich, Germany, January 2025.
[Source code]

Evgenii Kruzhkov and Sven Behnke:
LiLMaps: Learnable Implicit Language Maps
In Proceedings of IEEE/CVF Winter Conference on Applications of Computer Vision (WACV), Tucson, AZ, USA, February 2025.

2024

Evgenii Kruzhkov, Alena Savinykh, and Sven Behnke:
Hierarchical Pose Estimation and Mapping with Multi-scale Neural Feature Fields
In Proceedings of IEEE International Conference on Robotic Computing (IRC), Tokyo, Japan, December 2024.

Jonas Bode, Bastian Pätzold, Raphael Memmesheimer, and Sven Behnke:
A Comparison of Prompt Engineering Techniques for Task Planning and Execution in Service Robotics
In Proceedings of IEEE-RAS 23rd International Conference on Humanoid Robots (Humanoids), Nancy, France, November 2024.

Angel Villar-Corrales, Moritz Austermann, and Sven Behnke:
MCDS-VSS: Moving Camera Dynamic Scene Video Semantic Segmentation by Filtering with Self-Supervised Geometry and Motion
In Proceedings of 35th British Machine Vision Conference (BMVC), Glasgow, UK, November 2024.
[Video] [Supplementary] [Project Page]

Raphael Memmesheimer, Christian Lenz, Max Schwarz, Michael Schreiber, and Sven Behnke:
Self-Centering 3-DOF Feet Controller for Hands-Free Locomotion Control in Telepresence and Virtual Reality
In Proceedings of IEEE Conference on Telepresence (Telepresence), Pasadena, CA, USA, November 2024.

Jan Quenzel, Linus Mallwitz, Benedikt T. Arnold, and Sven Behnke:
LiDAR-based Registration against Georeferenced Models for Globally Consistent Allocentric Maps
In Proceedings of IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), New York, USA, November 2024.

Julian Spravil, Sebastian Houben, and Sven Behnke:
HyenaPixel: Global Image Context with Convolutions
In Proceedings of 27th European Conference on Artificial Intelligence (ECAI), Santiago de Compostela, Spain, October 2024.

Christian Lenz, Rohit Menon, Michael Schreiber, Melvin Paul Jacob, Sven Behnke, and Maren Bennewitz:
HortiBot: An Adaptive Multi-Arm System for Robotic Horticulture of Sweet Peppers
In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Abu Dhabi, UAE, October 2024.
[Video]

Sven Behnke:
Towards Conscious Service Robots
Keynote abstract. 40th Anniversary of the IEEE International Conference on Robotics and Automation (ICRA@40), Rotterdam, Netherlands, September 2024.

Felix Esser, Elias Marks, Federico Magistri, Jan Weyler, Simon Bultmann, Tobias Zaenker, Alireza Ahmadi, Michael Schreiber, Heiner Kuhlmann, Chris McCool, Marija Popovic, Cyrill Stachniss, Sven Behnke, Maren Bennewitz, and Lasse Klingbeil:
Automated Leaf-Level Inspection of Crops in Agricultural Fields by Combining Aerial and Ground Robot Systems
In Proceedings of 40th Anniversary of the IEEE International Conference on Robotics and Automation (ICRA@40), Rotterdam, Netherlands, September 2024.

Hafez Farazi:
Efficient Visual Perception for Soccer Robots, Motion Segmentation, and Video Prediction
Dissertation, Mathematisch-Naturwissenschaftliche Fakultät, Universität Bonn, August 2024.

Simon A. Bultmann:
Semantic Feedback for Collaborative Perception with Smart Edge Sensors
Dissertation, Mathematisch-Naturwissenschaftliche Fakultät, Universität Bonn, August 2024.

Anas Gouda, Max Schwarz, Christopher Reining, Sven Behnke, and Alice Kirchheim:
Learning Embeddings with Centroid Triplet Loss for Object Identification in Robotic Grasping
In Proceedings of IEEE 20th International Conference on Automation Science and Engineering (CASE), Bari, Italy, August 2024.

Jonas Bömer, Felix Esser, Elias Ariel Marks, Radu Alexandru Rosu, Sven Behnke, Lasse Klingbeil, Heiner Kuhlmann, Cyrill Stachniss, Anne-Katrin Mahlein, and Stefan Paulus:
A 3D Printed Plant Model for Accurate and Reliable 3D Plant Phenotyping
GigaScience, volume 13, giae035, June 2024.

Lennard Bodden, Duc Bach Ha, Franziska Schwaiger, Lars Kreuzberg, and Sven Behnke:
Spiking CenterNet: A Distillation-Boosted Spiking Neural Network for Object Detection
In Proceedings of International Joint Conference on Neural Networks (IJCNN), Yokohama, Japan, July 2024.

Andre Rochow, Max Schwarz, and Sven Behnke:
FSRT: Facial Scene Representation Transformer for Face Reenactment from Factorized Appearance, Head-pose, and Facial Expression Features
In Proceedings of IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), Seattle, USA, June 2024.
[Video] [Project Page]

Helin Cao and Sven Behnke:
SLCF-Net: Sequential LiDAR-Camera Fusion for Semantic Scene Completion using a 3D Recurrent U-Net
In Proceedings of IEEE International Conference on Robotics and Automation (ICRA), Yokohama, Japan, May 2024.
[Video] [Project Page]

Malte Mosbach and Sven Behnke:
Grasp Anything: Combining Teacher-Augmented Policy Gradient Learning with Instance Segmentation to Grasp Arbitrary Objects
In Proceedings of IEEE International Conference on Robotics and Automation (ICRA), Yokohama, Japan, May 2024.
[Video] [Project Page]

Arul Selvam Periyasamy and Sven Behnke:
MOTPose: Multi-object 6D Pose Estimation for Dynamic Video Sequences using Attention-based Temporal Fusion
In Proceedings of IEEE International Conference on Robotics and Automation (ICRA), Yokohama, Japan, May 2024.
[Video] [Project Page]

Hugo Storm, Sabine Julia Seidel, Lasse Klingbeil, Frank Ewert, Harry Vereecken, Wulf Amelung, Sven Behnke, Maren Bennewitz, Jan Börner, Thomas Döring, Juergen Gall, Anne-Katrin Mahlein, Chris McCool, Uwe Rascher, Stefan Wrobel, Andrea Schnepf, Cyrill Stachniss, and Heiner Kuhlmann:
Research Priorities to Leverage Smart Digital Technologies for Sustainable Crop Production
European Journal of Agronomy, 156:127178, May 2024.

Dmytro Pavlichenko, Grzegorz Ficht, Angel Villar-Corrales, Luis Denninger, Julia Brocker, Tim Sinen, Michael Schreiber and Sven Behnke:
RoboCup 2023 Humanoid AdultSize Winner NimbRo: NimbRoNet3 Visual Perception and Responsive Gait with Waveform In-walk Kicks
In: RoboCup 2023: Robot World Cup XXVI, LNCS 14140, pp. 337-349, Springer, March 2024.

2023

Arne Rönnau, Pascal Becker und Sven Behnke [Hrsg.]:
Roboter für Assistenzfunktionen: Konzeptstudien für die Interaktion in der Praxis
KIT Scientific Publishing, 795 S., Dezember 2023.

Arne Roennau, Martina Overbeck, Sven Behnke, Martin Gersch, Björn Kral, Werner Varro, and Pascal Becker:
Towards More Robotic Assistance for Everyday Life
In: Arne Rönnau, Pascal Becker und Sven Behnke (Editors): Roboter für Assistenzfunktionen: Konzeptstudien für die Interaktion in der Praxis, KIT Scientific Publishing, pp. 1-69, December 2023.

Hartmut Surmann, Kevin Daun, Marius Schnaubelt, Oskar von Stryk, Manuel Patchou, Stefan Böcker, Christian Wietfeld, Jan Quenzel, Daniel Schleich, Sven Behnke, Robert Grafe, Nils Heidemann, Dominik Slomma, and Ivana Kruijff-Korbayová:
Lessons from Robot-Assisted Disaster Response Deployments by the German Rescue Robotics Center Task Force
Journal of Field Robotics (JFR), Wiley, published online December 2023.
[arXiv:2212.09354]

Max Schwarz, Christian Lenz, Raphael Memmesheimer, Bastian Pätzold, Andre Rochow, Michael Schreiber, and Sven Behnke:
Robust Immersive Telepresence and Mobile Telemanipulation: NimbRo wins ANA Avatar XPRIZE Finals
In Proceedings of IEEE-RAS 22nd International Conference on Humanoid Robots (Humanoids), Austin, USA, December 2023.
Finalist for Best Oral Paper Award. [Video] [Project Page]

Grzegorz Ficht and Sven Behnke:
Centroidal State Estimation and Control for Hardware Constrained Humanoid Robots
In Proceedings of IEEE-RAS 22nd International Conference on Humanoid Robots (Humanoids), Austin, USA, December 2023.
[Video] [Project Page]

Arul Selvam Periyasamy, Vladimir Tsaturyan, and Sven Behnke:
Efficient Multi-Object Pose Estimation using Multi-Resolution Deformable Attention and Query Aggregation
In Proceedings of IEEE International Conference on Robotic Computing (IRC), Laguna Hills, USA, December 2023.

Felix Esser, Radu Alexandru Rosu, Andre Cornelißen, Lasse Klingbeil, Heiner Kuhlmann, and Sven Behnke:
Field Robot for High-throughput and High-resolution 3D Plant Phenotyping
IEEE Robotics and Automation Magazine, vol. 30, no. 4, pp. 20-29, December 2023.

Sven Behnke, Julie Adams, and David Locke:
The $10 Million ANA Avatar XPRIZE Competition: How It Advanced Immersive Telepresence Systems
IEEE Robotics and Automation Magazine, vol. 30, no. 4, pp. 98-104, December 2023.
[Extended version arXiv:2308.07878]

Tobias Selzner, Jannis Horn, Magdalena Landl, Andreas Pohlmeier, Dirk Helmrich, Katrin Huber, Jan Vanderborght, Harry Vereecken, Sven Behnke, and Andrea Schnepf:
3D U-Net Segmentation Improves Root System Reconstruction from 3D MRI Images in Automated and Manual Virtual Reality Work Flows
Plant Phenomics, 2023:5, Article 0076, 2023.

Arul Selvam Periyasamy, Arash Amini, Vladimir Tsaturyan, and Sven Behnke:
YOLOPose V2: Understanding and Improving Transformer-based 6D Pose Estimation
Robotics and Autonomous Systems, 168:104490, Elsevier, 2023.

Angel Villar-Corrales, Ismail Wahdan, and Sven Behnke:
Object-centric Video Prediction via Decoupling of Object Dynamics and Interactions
In Proceedings of IEEE International Conference on Image Processing (ICIP), pp. 570-574, Kuala Lumpur, Malaysia, October 2023.
[Video] [Project Page]

Mojtaba Hosseini, Diego Rodriguez, and Sven Behnke:
Dynamic Hybrid Locomotion and Jumping for Wheeled-Legged Quadrupeds
In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Detroit, USA, October 2023.
[Videos]

Ilyass Taouil, Giulio Turrisi, Daniel Schleich, Victor Barasuol, Claudio Semini, and Sven Behnke:
Quadrupedal Footstep Planning using Learned Motion Models of a Black-Box Controller
In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Detroit, USA, October 2023.
[Video]

Andre Rochow, Max Schwarz, and Sven Behnke:
Attention-Based VR Facial Animation with Visual Mouth Camera Guidance for Immersive Telepresence Avatars
In Proceedings of  IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Detroit, USA, October 2023.
[Videos]

Bastian Pätzold, Andre Rochow, Michael Schreiber, Raphael Memmesheimer, Christian Lenz, Max Schwarz, and Sven Behnke:
Audio-based Roughness Sensing and Tactile Feedback for Haptic Perception in Telepresence
In Proceedings of IEEE International Conference on Systems, Man, and Cybernetics (SMC), Oahu, Hawaii, USA, October 2023.
[Video] [Project Page]

Malte Mosbach and Sven Behnke:
Learning Generalizable Tool Use with Non-rigid Grasp-pose Registration
In Proceedings of IEEE 19th International Conference on Automation Science and Engineering (CASE), Auckland, New Zealand, August 2023.
Best Conference Paper Award.
[Project Page]

Dmytro Pavlichenko and Sven Behnke:
Deep Reinforcement Learning of Dexterous Pre-grasp Manipulation for Human-like Functional Categorical Grasping
In Proceedings of IEEE 19th International Conference on Automation Science and Engineering (CASE), Auckland, New Zealand, August 2023.
[Video]

Radu Alexandru Rosu and Sven Behnke:
PermutoSDF: Fast Multi-View Reconstruction with Implicit Surfaces using Permutohedral Lattices
In Proceedings of IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), Vancouver, Canada, June 2023.
[Project Page]

Simon Bultmann, Raphael Memmesheimer, and Sven Behnke:
External Camera-based Mobile Robot Pose Estimation for Collaborative Perception with Smart Edge Sensors
In Proceedings of IEEE International Conference on Robotics and Automation (ICRA), London, UK, June 2023.
[Video]

Dmytro Pavlichenko, Grzegorz Ficht, Arash Amini, Mojtaba Hosseini, Raphael Memmesheimer, Angel Villar-Corrales, Stefan M. Schulz, Marcell Missura, Maren Bennewitz, and Sven Behnke:
RoboCup 2022 AdultSize Winner NimbRo: Upgraded Perception, Capture Steps Gait and Phase-based In-walk Kicks
In: RoboCup 2022: Robot World Cup XXV, LNCS 13561, pp. 240-252, Springer, May 2023.

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

Max Schwarz, Christian Lenz, Raphael Memmesheimer, Bastian Pätzold, Andre Rochow, Michael Schreiber, and Sven Behnke:
Robust Immersive Telepresence and Mobile Telemanipulation: NimbRo wins ANA Avatar XPRIZE Finals
Preprint arXiv:2303.03297, March 2023.

Arul Selvam Periyasamy and Sven Behnke:
Towards 3D Scene Understanding Using Differentiable Rendering
SN Computer Science 4(3):245, March 2023.

Marcin Namysl, Alexander Esser, Sven Behnke, and Joachim Köhler:
Flexible Hybrid Table Recognition and Semantic Interpretation System
SN Computer Science, 4(3):246, March 2023.

Christian Lenz and Sven Behnke:
Bimanual Telemanipulation with Force and Haptic Feedback through an Anthropomorphic Avatar System
Robotics and Autonomous Systems, 161:104338, Elsevier, March 2023.

Jörg Wagner
Robust and Interpretable Visual Perception Using Deep Neural Networks
Dissertation, Mathematisch-Naturwissenschaftliche Fakultät, Universität Bonn, January 2023.

Simon Bultmann, Jan Quenzel, and Sven Behnke:
Real-Time Multi-Modal Semantic Fusion on Unmanned Aerial Vehicles with Label Propagation for Cross-Domain Adaptation 
Robotics and Autonomous Systems, 159:104286, Elsevier, January 2023.

Marcin, Namysł:
Robust Information Extraction From Unstructured Documents
Dissertation, Mathematisch-Naturwissenschaftliche Fakultät, Universität Bonn, January 2023.

2022

Hartmut Surmann, Ivana Kruijff-Korbayova, Kevin Daun, Marius Schnaubelt, Oskar von Stryk, Manuel Patchou, Stefan Boecker, Christian Wietfeld, Jan Quenzel, Daniel Schleich, Sven Behnke, Robert Grafe, Nils Heidemann, and Dominik Slomma:
Lessons from Robot-Assisted Disaster Response Deployments by the German Rescue Robotics Center Task Force
Technical Report, German Rescue Robotic Center, arXiv:2212.09354, December 2022.

Mojtaba Hosseini, Diego Rodriguez, and Sven Behnke:
State Estimation for Hybrid Locomotion of Driving-Stepping Quadrupeds
In Proceedings of 6th IEEE International Conference on Robotic Computing (IRC), Naples, Italy, December 2022.
Best Paper Award. [Project Page]

Arul Selvam Periyasamy, Luis Denninger, and Sven Behnke:
Learning Implicit Probability Distribution Functions for Symmetric Orientation Estimation from RGB Images Without Pose Labels
In Proceedings of 6th IEEE International Conference on Robotic Computing (IRC), Naples, Italy, December 2022.

Malte Mosbach and Sven Behnke:
Efficient Representations of Object Geometry for Reinforcement Learning of Interactive Grasping Policies
In Proceedings of 6th IEEE International Conference on Robotic Computing (IRC), Naples, Italy, December 2022.
[Project Page]

Julian Hau, Simon Bultmann, and Sven Behnke:
Object-level 3D Semantic Mapping using a Network of Smart Edge Sensors
In Proceedings of 6th IEEE International Conference on Robotic Computing (IRC), Naples, Italy, December 2022.

Radu Alexandru Rosu and Sven Behnke:
HashSDF: Accurate Implicit Surfaces with Fast Local Features on Permutohedral Lattices
Preprint ArXiv:2211.12562, November 2022.

Dmytro Pavlichenko and Sven Behnke:
Flexible-Joint Manipulator Trajectory Tracking with Two-Stage Learned Model utilizing a Hardwired Forward Dynamics Prediction
International Journal of Semantic Computing (IJSC), 16(3):403 - 423, World Scientific, November 2022.

Malte Mosbach, Kara Moraw, and Sven Behnke:
Accelerating Interactive Human-like Manipulation Learning with GPU-based Simulation and High-quality Demonstrations
In Proceedings of IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids), Ginowan, Okinawa, Japan, November 2022.
[Project Page]

Angel Villar-Corrales, Ani Karapetyan, Andreas Boltres, and Sven Behnke:
MSPred: Video Prediction at Multiple Spatio-Temporal Scales with Hierarchical Recurrent Networks
In Proceedings of 33rd British Machine Vision Conference (BMVC), London, UK, November 2022.
[Project Page] [Supplementary Material]

Radu Alexandru Rosu, Shunsuke Saito, Ziyan Wang, Chenglei Wu, Sven Behnke, and Giljoo Nam:
Neural Strands: Learning Hair Geometry and Appearance from Multi-View Images
In Proceedings of European Conference on Computer Vision (ECCV), Tel Aviv, Israel, October 2022.
[Project Page] [Supplementary Material]

Daniel Schleich and Sven Behnke:
Predictive Angular Potential Field-based Obstacle Avoidance for Dynamic UAV Flights
In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Kyoto, Japan, October 2022.
[Videos]

Andre Rochow, Max Schwarz, Michael Schreiber, and Sven Behnke:
VR Facial Animation for Immersive Telepresence Avatars
In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Kyoto, Japan, October 2022.
[Videos]

Michael Gref:
Robust Speech Recognition via Adaptation for German Oral History Interviews
Dissertation, Mathematisch-Naturwissenschaftliche Fakultät, Universität Bonn, October 2022.

Bastian Pätzold, Simon Bultmann, and Sven Behnke:
Online Marker-free Extrinsic Camera Calibration using Person Keypoint Detections
In Proceedings of 44th DAGM German Conference on Pattern Recognition (GCPR), pp. 300-316, Konstanz, LNCS 13485, Springer, September 2022.
[Video] [Source]

Grzegorz Ficht and Sven Behnke:
Direct Centroidal Control for Balanced Humanoid Locomotion
In Proceedings of 25th International Conference on Climbing and Walking Robots (CLAWAR), Ponta Delgada, Azores, Portugal, September 2022.
Runner-up Best Technical Paper Award.
[Video]

Hafez Farazi and Sven Behnke:
Intention-Aware Frequency Domain Transformer Networks for Video Prediction
In Proceedings of 31st International Conference on Artificial Neural Networks (ICANN), Bristol, UK, September 2022.
[Video]

Benedikt T. Imbusch, Max Schwarz, and Sven Behnke:
Synthetic-to-Real Domain Adaptation using Contrastive Unpaired Translation
In Proceedings of 18th IEEE International Conference on Automation Science and Engineering (CASE), Mexico City, Mexico, August 2022.
[Video]

Radu Alexandru Rosu and Sven Behnke:
NeuralMVS: Bridging Multi-View Stereo and Novel View Synthesis
In Proceedings of International Joint Conference on Neural Networks (IJCNN), Padova, Italy, July 2022.
[Project Page]

Martin Link, Max Schwarz, and Sven Behnke:
Predicting Physical Object Properties from Video
In Proceedings of International Joint Conference on Neural Networks (IJCNN), Padova, Italy, July 2022.

Andre Rochow, Max Schwarz, Michael Weinmann, and Sven Behnke:
FaDIV-Syn: Fast Depth-Independent View Synthesis using Soft Masks and Implicit Blending
In Proceedings of Robotics: Science and Systems (RSS), New York, USA, June 2022.
[Video] [Supplementary Material] [Sources]

Michael Gref, Nike Matthiesen, Sreenivasa Hikkal Venugopala, Shalaka Satheesh, Aswinkumar Vijayananth, Duc Bach Ha, Sven Behnke, and Joachim Köhler:
A Study on the Ambiguity in Human Annotation of German Oral History Interviews for Perceived Emotion Recognition and Sentiment Analysis
In Proceedings of 13th International Conference on Language Resources and Evaluation (LREC), Marseille, France, June 2020.

Arash Amini, Arul Selvam Periyasamy, and Sven Behnke:
YOLOPose: Transformer-based Multi-Object 6D Pose Estimation using Keypoint Regression
In Proceedings of 17th International Conference on Intelligent Autonomous Systems (IAS), Zagreb, Croatia, June 2022.
Best Paper Award.

Sebastian Schräder, Daniel Schleich, and Sven Behnke:
Two-step Planning of Dynamic UAV Trajectories using Iterative δ-Spaces
In Proceedings of 17th International Conference on Intelligent Autonomous Systems (IAS), Zagreb, Croatia, June 2022.

Simon Bultmann and Sven Behnke:
3D Semantic Scene Perception using Distributed Smart Edge Sensors
In Proceedings of 17th International Conference on Intelligent Autonomous Systems (IAS), Zagreb, Croatia, June 2022.
[Video]

Peer Schütt, Radu Alexandru Rosu, and Sven Behnke:
Abstract Flow for Temporal Semantic Segmentation on the Permutohedral Lattice
In Proceedings of IEEE International Conference on Robotics and Automation (ICRA), Philadelphia (PA), USA, May 2022.
[Video]

Dmytro Pavlichenko and Sven Behnke:
Real-Robot Deep Reinforcement Learning: Improving Trajectory Tracking of Flexible-Joint Manipulator with Reference Correction
In Proceedings of IEEE International Conference on Robotics and Automation (ICRA), Philadelphia (PA), USA, May 2022.
[Videos]

Marius Beul:
Fast Time-optimal Trajectory Generation for Jerk-controlled Systems
Dissertation, Mathematisch-Naturwissenschaftliche Fakultät, Universität Bonn, February 2022.

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:
Target Chase, Wall Building, and Fire Fighting: Autonomous UAVs of Team NimbRo at MBZIRC 2020
Field Robotics, vol. 2, pp. 807-842, May 2022.

Christian Lenz, Jan Quenzel, Arul Selvam Periyasamy, Jan Razlaw, Andre Rochow, Malte Splietker, Michael Schreiber, Max Schwarz, Finn Süberkrüb, and Sven Behnke:
Autonomous Wall-building and Firefighting: Team NimbRo’s UGV Solution for MBZIRC 2020
Field Robotics, vol. 2, pp. 55-74, March 2022.
[Video]

Tim Adams, Marcin Namysl, Alpha Tom Kodamullil, Sven Behnke, and Marc Jacobs:
Benchmarking Table Recognition Performance on Biomedical Literature on Neurological Disorders
Bioinformatics, volume 38, issue 6, pages 1624-1630, Oxford University Press, March 2022

Angel Villar-Corrales and Sven Behnke:
Unsupervised Image Decomposition with Phase-Correlation Networks
In Proceedings of 17th International Conference on Computer Vision Theory and Applications (VISAPP), February 2022.
[Source]

Arul Selvam Periyasamy, Max Schwarz, and Sven Behnke:
Iterative 3D Deformable Registration from Single-View RGB Images Using Differentiable Rendering
In Proceedings of 17th International Conference on Computer Vision Theory and Applications (VISAPP), February 2022.
Finalist for Student Paper Award.

Diego Rodriguez, Florian Huber, and Sven Behnke:
Category-level Part-based 3D Object Non-rigid Registration
In Proceedings of 17th International Conference on Computer Vision Theory and Applications (VISAPP), February 2022.
Best Poster Award. [Poster]

Marcin Namysl, Alexander M. Esser, Sven Behnke, and Joachim Köhler:
Flexible Table Recognition and Semantic Interpretation System
In Proceedings of 17th International Conference on Computer Vision Theory and Applications (VISAPP), February 2022.
Finalist for Best Industrial Paper Award.

Arul Selvam Periyasamy, Catherine Capellen, Max Schwarz, and Sven Behnke:
ConvPoseCNN2: Prediction and Refinement of Dense 6D Object Pose
In: Computer Vision, Imaging and Computer Graphics Theory and Applications. VISIGRAPP 2020. Communications in Computer and Information Science (CCIS), vol. 1474, pp. 353-371, Springer, January 2022.

2021

Dmytro Pavlichenko and Sven Behnke:
Flexible-Joint Manipulator Trajectory Tracking with Learned Two-Stage Model employing One-Step Future Prediction
In Proceedings of 5th IEEE International Conference on Robotic Computing (IRC), Taichung, Taiwan, November 2021.
[Video]

Ivana Kruijff-Korbayova, Robert Grafe, Nils Heidemann, Alexander Berrang, Cai Hussung, Christian Willms, Peter Fettke, Marius Beul, Jan Quenzel, Daniel Schleich, Sven Behnke, Janis Tiemann, Johannes Güldenring, Manuel Patchou, Christian Arendt, Christian Wietfeld, Kevin Daun, Marius Schnaubelt, Oskar von Stryk, Alexander Lel, Alexander Miller, Christof Roehrig, Thomas Straßmann, Thomas Barz, Stefan Soltau, Felix Kremer, Stefan Rilling, Rohan Haseloff, Stefan Grobelny, Artur Leinweber, Gerhard Senkowski, Marc Thurow, Dominik Slomma, and Hartmut Surmann:
German Rescue Robotics Center (DRZ): A Holistic Approach for Robotic Systems Assisting in Emergency Response
In Proceedings of IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), New York, USA, October 2021.

Radu Alexandru Rosu, Peer Schuett, Jan Quenzel, and Sven Behnke:
LatticeNet: Fast Spatio-Temporal Point Cloud Segmentation Using Permutohedral Lattices
Autonomous Robots, Springer, October 2021.

Hafez Farazi, Jan Nogga, and Sven Behnke:
Semantic Prediction: Which One Should Come First, Recognition or Prediction?
In Proceedings of 29th European Symposium on Artificial Neural Networks, Computational Intelligence and Machine Learning (ESANN), October 2021.

Malte Mosbach and Sven Behnke:
Fourier-based Video Prediction through Relational Object Motion
In Proceedings of 29th European Symposium on Artificial Neural Networks, Computational Intelligence and Machine Learning (ESANN), October 2021.
[Source]

Arash Amini, Arul Selvam Periyasamy, and Sven Behnke:
T6D-Direct: Transformers for Multi-Object 6D Pose Direct Regression
In Proceedings of DAGM German Conference on Pattern Recognition (GCPR), Bonn, Germany, September 2021.
[Video]

Andre Brandenburger, Diego Rodriguez, and Sven Behnke:
Mapless Humanoid Navigation Using Learned Latent Dynamics
In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Prague, Czech Republic, September 2021.
[Video]

Max Schwarz, Christian Lenz, Andre Rochow, Michael Schreiber and Sven Behnke:
NimbRo Avatar: Interactive Immersive Telepresence with Force-Feedback Telemanipulation
In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Prague, Czech Republic, September 2021.
[Video]

Jan Quenzel and Sven Behnke:
Real-time Multi-Adaptive-Resolution-Surfel 6D LiDAR Odometry using Continuous-time Trajectory Optimization
In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Prague, Czech Republic, September 2021.
[Video] [Source]

Christian Lenz and Sven Behnke:
Bimanual Telemanipulation with Force and Haptic Feedback and Predictive Limit Avoidance
In Proceedings of 10th European Conference on Mobile Robots (ECMR), Bonn, Germany, September 2021.
[Video]

Malte Splietker and Sven Behnke:
Rendering and Tracking the Directional TSDF: Modeling Surface Orientation for Coherent Maps
In Proceedings of 10th European Conference on Mobile Robots (ECMR), Bonn, Germany, September 2021.
[Video]

Simon Bultmann, Jan Quenzel, and Sven Behnke:
Real-Time Multi-Modal Semantic Fusion on Unmanned Aerial Vehicles
In Proceedings of 10th European Conference on Mobile Robots (ECMR), Bonn, Germany, September 2021.
[Video]

David Schunck, Federico Magistri, Radu Alexandru Rosu, André Cornelißen, Nived Chebrolu, Stefan Paulus, Jens Léon, Sven Behnke, Cyrill Stachniss, Heiner Kuhlmann, Lasse Klingbeil:
Pheno4D: A spatio-temporal dataset of maize and tomato plant point clouds for phenotyping and advanced plant analysis
PLoS ONE 16(8): e0256340, August 2021.

Marcin Namysl, Sven Behnke, and Joachim Köhler:
Empirical Error Modeling Improves Robustness of Noisy Neural Sequence Labeling
Findings of the Association for Computational Linguistics (Findings of ACL) 2021: 314-329.

Arul Selvam Periyasamy, Max Schwarz, and Sven Behnke:
SynPick: A Dataset for Dynamic Bin Picking Scene Understanding
In Proceedings of 17th IEEE International Conference on Automation Science and Engineering (CASE), Lyon, France, August 2021.
[Projekt page with data set, code, and videos}

Max Schwarz and Sven Behnke:
Low-Latency Immersive 6D Televisualization with Spherical Rendering
In Proceedings of IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids), Munich, Germany, July 2021.
Finalist for Best Oral Paper Award
[Video]

Hafez Farazi, Jan Nogga, and Sven Behnke:
Local Frequency Domain Transformer Networks for Video Prediction
In Proceedings of International Joint Conference on Neural Networks (IJCNN), July 2021.
[Video] [Source]

Simon Bultmann and Sven Behnke:
Real-Time Multi-View 3D Human Pose Estimation using Semantic Feedback to Smart Edge Sensors
In Proceedings of Robotics: Science and Systems (RSS), July 2021.
[Video] [Source]

Moritz Zappel, Simon Bultmann, and Sven Behnke:
6D Object Pose Estimation using Keypoints and Part Affinity Fields
In Proceedings of 24th RoboCup International Symposium, June 2021.
Finalist for Best Paper Award
[Video]

Arash Amini, Hafez Farazi, and Sven Behnke:
Real-time Pose Estimation from Images for Multiple Humanoid Robots
In Proceedings of 24th RoboCup International Symposium, June 2021.
Finalist for Best Paper Award
[Video]

Daniel Schleich, Marius Beul, Jan Quenzel, and Sven Behnke:
Autonomous Flight in Unknown GNSS-denied Environments for Disaster Examination
In Proceedings of International Conference on Unmanned Aircraft Systems (ICUAS), Athens, Greece, June 2021.
[Videos]

Jan Quenzel, Malte Splietker, Dmytro Pavlichenko, Daniel Schleich, Christian Lenz, Max Schwarz, Michael Schreiber, Marius Beul, and Sven Behnke:
Autonomous Fire Fighting with a UAV-UGV Team at MBZIRC 2020
In Proceedings of International Conference on Unmanned Aircraft Systems (ICUAS), Athens, Greece, June 2021.
[Videos]

Grzegorz Ficht and Sven Behnke:
Bipedal Humanoid Hardware Design: A Technology Review
Current Robotics Reports, vol. 2, pp. 201-210, Springer, 2021.

Diego Rodriguez and Sven Behnke:
DeepWalk: Omnidirectional Bipedal Gait by Deep Reinforcement Learning
In Proceedings of IEEE International Conference on Robotics and Automation (ICRA), Xi'an, China, June 2021.
[Videos]

Daniel Schleich and Sven Behnke:
Search-based Planning of Dynamic MAV Trajectories Using Local Multiresolution State Lattices
In Proceedings of IEEE International Conference on Robotics and Automation (ICRA), Xi'an, China, June 2021.
[Video]

Diego Rodriguez:
Learning Grasping and Walking Motion Generation for Humanoid Robots
Dissertation, Mathematisch-Naturwissenschaftliche Fakultät, Universität Bonn, April 2021.

Jens Behley, Martin Garbade, Andres Milioto, Jan Quenzel, Sven Behnke, Jürgen Gall, and Cyrill Stachniss:
Towards 3D LiDAR-based Semantic Scene Understanding of 3D Point Cloud Sequences – The SemanticKITTI Dataset
The International Journal of Robotics Research (IJRR), 40(8-9): 959-967, SAGE Publications, April 2021.
[Dataset]

Radu Alexandru Rosu and Sven Behnke:
EasyPBR: A Lightweight Physically-Based Renderer
In Proceedings of 16th International Conference on Computer Graphics Theory and Applications (GRAPP), February 2021.
[Video] [Source] [Poster]

Jannis Horn, Yi Zhao, Nils Wandel, Magdalena Landl, Andrea Schnepf, and Sven Behnke:
Robust Skeletonization for Plant Root Structure Reconstruction from MRI
In Proceedings of 25th International Conference on Pattern Recognition (ICPR), Milan, Italy, January 2021.
[Presentation Video] [Poster]

2020

Philipp Allgeuer:
Analytic Bipedal Walking with Fused Angles and Corrective Actions in the Tilt Phase Space
Dissertation, Mathematisch-Naturwissenschaftliche Fakultät, Universität Bonn, December 2020.

Barbara Hammer, Wil van der Aalst, Christian Bauckhage, Sven Behnke, Thorsten Holz, Nicole Krämer, Katharina Morik, and Axel-Cyrille Ngonga Ngomo:
Sustainability and Trust for Artificial Intelligence Technologies
Bielefeld University, 2020.

Marius Beul and Sven Behnke:
Trajectory Generation with Fast Lidar-based 3D Collision Avoidance for Agile MAVs
In Proceedings of IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), Abu Dhabi, UAE, November 2020.
[Videos]

Christian Lenz, Max Schwarz, Andre Rochow, Jan Razlaw, Arul Selvam Periyasamy, Michael Schreiber, and Sven Behnke:
Autonomous Wall Building with a UGV-UAV Team at MBZIRC 2020
In Proceedings of IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), Abu Dhabi, UAE, November 2020.
[Videos]

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

Grzegorz Ficht, Hafez Farazi, Diego Rodriguez, Dmytro Pavlichenko, Philipp Allgeuer, André Brandenburger, and Sven Behnke:
NimbRo-OP2X: Affordable Adult-sized 3D-printed Open-Source Humanoid Robot for Research
International Journal of Humanoid Robotics (IJHR), 17(05):2050021, World Scientific, 2020.

David Marcel Droeschel:
Efficient Methods for Lidar-based Mapping and Localization
Dissertation, Mathematisch-Naturwissenschaftliche Fakultät, Universität Bonn, Oktober 2020.

Diego Rodriguez, Florian Huber, and Sven Behnke:
Category-Level 3D Non-Rigid Registration from Single-View RGB Images
In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Las Vegas, USA, October 2020.
[Video]

Tobias Klamt, Max Schwarz, Christian Lenz, Lorenzo Baccelliere, Domenico Buongiorno, Torben Cichon, Antonio DiGuardo, David Droeschel, Massimiliano Gabardi, Malgorzata Kamedula, Navvab Kashiri, Arturo Laurenzi, Daniele Leonardis, Luca Muratore, Dmytro Pavlichenko, Arul S. Periyasamy, Diego Rodriguez, Massimiliano Solazzi, Antonio Frisoli, Michael Gustmann, Jürgen Roßmann, Uwe Süss, Nikos G. Tsagarakis, and Sven Behnke:
Remote mobile manipulation with the Centauro robot: Full‐body telepresence and autonomous operator assistance
Journal of Field Robotics (JFR) 37(5):889-919, Wiley, August 2020.
[Video]

Radu Alexandru Rosu, Peer Schütt, Jan Quenzel, and Sven Behnke:
LatticeNet: Fast Point Cloud Segmentation Using Permutohedral Lattices
In Proceedings of Robotics: Science and Systems (RSS), Oregon, USA, July 2020.
[Videos]

Marcin Namysl, Sven Behnke, and Joachim Köhler:
NAT: Noise-Aware Training for Robust Neural Sequence Labeling
In Proceedings of Annual Conference of the Association for Computational Linguistics (ACL), Seattle, July 2020.

Jan Quenzel, Radu Alexandru Rosu, Thomas Läbe, Cyrill Stachniss, and Sven Behnke:
Beyond Photometric Consistency: Gradient-based Dissimilarity for Improving Visual Odometry and Stereo Matching
In Proceedings of IEEE International Conference on Robotics and Automation (ICRA), Paris, France, May 2020.
[Videos]

Grzegorz Ficht and Sven Behnke:
Fast Whole-Body Motion Control of Humanoid Robots with Inertia Constraints
In Proceedings of IEEE International Conference on Robotics and Automation (ICRA), Paris, France, May 2020.
[Video]

Max Schwarz and Sven Behnke:
Stillleben: Realistic Scene Synthesis for Deep Learning in Robotics
In Proceedings of IEEE International Conference on Robotics and Automation (ICRA), Paris, France, May 2020.
[Source code] [Presentation video]

Michael Gref, Oliver Walter, Christoph Schmidt, Sven Behnke, and Joachim Köhler:
Multi-Staged Cross-Lingual Acoustic Model Adaption for Robust Speech Recognition in Real-World Applications - A Case Study on German Oral History Interviews
In Proceedings of 12th International Conference on Language Resources and Evaluation (LREC), Marseille, France, May 2020

Radu Alexandru Rosu, Jan Quenzel, and Sven Behnke:
Semi-Supervised Semantic Mapping through Label Propagation with Semantic Texture Meshes
International Journal of Computer Vision (IJCV) 128(5):1220-1238, Springer, May 2020.

Hafez Farazi and Sven Behnke:
Motion Segmentation using Frequency Domain Transformer Networks
In Proceedings of 28th European Symposium on Artificial Neural Networks, Computational Intelligence and Machine Learning (ESANN), Bruges, Belgium, April 2020.
[Video]

Moritz Wolter, Angela Yao, and Sven Behnke:
Object-centered Fourier Motion Estimation and Segment-Transformation Prediction
In Proceedings of 28th European Symposium on Artificial Neural Networks, Computational Intelligence and Machine Learning (ESANN), Bruges, Belgium, April 2020.
[Video]

Yi Zhao, Nils Wandel, Magdalena Landl, Andrea Schnepf, and Sven Behnke:
3D U-Net for Segmentation of Plant Root MRI Images in Super-Resolution
In Proceedings of 28th European Symposium on Artificial Neural Networks, Computational Intelligence and Machine Learning (ESANN), Bruges, Belgium, April 2020.
[Video]

Catherine Capellen, Max Schwarz, and Sven Behnke:
ConvPoseCNN: Dense Convolutional 6D Object Pose Estimation
In Proceedings of 15th International Conference on Computer Vision Theory and Applications (VISAPP), pp. 162-172, Valletta, Malta, February 2020.

Umashankar Deekshith, Nishit Gajjar, Max Schwarz, and Sven Behnke:
Visual Descriptor Learning from Monocular Video
In Proceedings of 15th  International Conference on Computer Vision Theory and Applications (VISAPP), pp. 444-451, Valletta, Malta, February 2020.

Tobias Klamt:
Planning Hybrid Driving-Stepping Locomotion for Ground Robots in Challenging Environments
Dissertation, Mathematisch-Naturwissenschaftliche Fakultät, Universität Bonn, Februar 2020.

2019

Marcell Missura, Maren Bennewitz, and Sven Behnke:
Capture Steps: Robust Walking for Humanoid Robots
International Journal of Humanoid Robotics (IJHR) 16(6):1950032:1-1950032:28, World Scientific, 2019.
[Video]

Diego Rodriguez, Hafez Farazi, Grzegorz Ficht, Dmytro Pavlichenko, André Brandenburger, Mojtaba Hosseini, Oleg Kosenko, Michael Schreiber, Marcel Missura, and Sven Behnke:
RoboCup 2019 AdultSize Winner NimbRo: Deep Learning Perception, In-Walk Kick, Push Recovery, and Team Play Capabilities
In: RoboCup 2019, Robot World Cup XXIII. LNCS 11531, pp. 631-645, Springer, 2019.

Tobias Klamt, Diego Rodriguez, Lorenzo Baccelliere, Xi Chen, Domenico Chiaradia, Torben Cichon, Massimiliano Gabardi, Paolo Guria, Karl Holmquist, Malgorzata Kamedula, Hakan Karaoguz, Navvab Kashiri, Arturo Laurenzi, Christian Lenz, Daniele Leonardis, Enrico Mingo, Luca Muratore, Dmytro Pavlichenko, Francesco Porcini, Zeyu Ren, Fabian Schilling, Max Schwarz, Massimiliano Solazzi, Michael Felsberg, Antonio Frisoli, Michael Gustmann, Patric Jensfelt, Klas Nordberg, Juergen Rossmann, Uwe Suess, Nikos Tsagarakis, and Sven Behnke:
Flexible Disaster Response of Tomorrow - Final Presentation and Evaluation of the CENTAURO System
IEEE Robotics and Automation Magazine, Special Issue on Humanoid Robot Applications in Real World Scenarios, 26(4):59-72, December 2019.
[Video]

Max Schwarz and Sven Behnke:
Semantic RGB-D Perception for Cognitive Service Robots
In: RGB-D Image Analysis and Processing, pp. 285-308, Springer, December 2019.

Malte Splietker and Sven Behnke:
Directional TSDF: Modeling Surface Orientation for Coherent Meshes
In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Macau, China, November 2019.
[Video]

Patrick Stotko, Stefan Krumpen, Max Schwarz, Christian Lenz, Sven Behnke, Reinhard Klein, and Michael Weinmann:
A VR System for Immersive Teleoperation and Live Exploration with a Mobile Robot
In Proceedings of  IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Macau, China, November 2019.
[Video]

Marius Beul and Sven Behnke:
Fast Time-optimal Avoidance of Moving Obstacles for High-Speed MAV Flight
In Proceedings of  IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Macau, China, November 2019.
[Video]

Matthias Nieuwenhuisen:
Planning and Navigation in Dynamic Environments for Mobile Robots and Micro Aerial Vehicles
Dissertation, Mathematisch-Naturwissenschaftliche Fakultät, Universität Bonn, October 2019.

Jens Behley, Martin Garbade, Andres Milioto, Jan Quenzel, Sven Behnke, Cyrill Stachniss, and Jürgen Gall:
SemanticKITTI: A Dataset for Semantic Scene Understanding of LiDAR Sequences
Oral presentation at International Conference on Computer Vision (ICCV), Seoul, Korea, October 2019.
[Supplementary material] [Website]

Dmytro Pavlichenko, Diego Rodriguez, Christian Lenz, Max Schwarz, and Sven Behnke:
Autonomous Bimanual Functional Regrasping of Novel Object Class Instances
In Proceedings of IEEE-RAS International Conference on Humanoid Robots (Humanoids), Toronto, Canada, October 2019.
[Video]

Arul Selvam Periyasamy, Max Schwarz, and Sven Behnke:
Refining 6D Object Pose Predictions using Abstract Render-and-Compare
In Proceedings of IEEE-RAS International Conference on Humanoid Robots (Humanoids), Toronto, Canada, October 2019.
[Video]

Daniel Schleich, Mojtaba Hosseini, Diego Rodriguez, and Sven Behnke
Real-Time Footstep Planning with CoM Dynamics
Late Breaking Report at  IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids), Toronto, Canada, October 2019.

Peer Schütt, Max Schwarz, and Sven Behnke:
Semantic Interaction in Augmented Reality Environments for Microsoft HoloLens
In Proceedings of European Conference on Mobile Robots (ECMR), Prague, Czech Republic, September 2019.
[Video}

Radu Alexandru Rosu, Jan Quenzel, and Sven Behnke:
Reconstruction of Textured Meshes for Fire and Heat Source Detection
In Proceedings of IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), Würzburg, Germany, September 2019.
[Video]

Hafez Farazi, Grzegorz Ficht, Philipp Allgeuer, Dmytro Pavlichenko, Diego Rodriguez, André Brandenburger, Mojtaba Hosseini, and Sven Behnke:
NimbRo Robots Winning RoboCup 2018 Humanoid AdultSize Soccer Competitions
In: RoboCup 2018: Robot World Cup XXII. LNCS 11374, pp 436-449. Springer, 2019.

Michael Gref, Christoph Schmidt, Sven Behnke, and Joachim Köhler:
Two-Staged Acoustic Modeling Adaption for Robust Speech Recognition by the Example of German Oral History Interviews
In Proceedings of IEEE International Conference on Multimedia and Expo (ICME), Shanghai, China, July 2019.

Anna Kukleva, Mohammad Asif Khan, Hafez Farazi, and Sven Behnke:
Utilizing Temporal Information in Deep Convolutional Network for Efficient Soccer Ball Detection and Tracking
In Proceedings of 23rd RoboCup International Symposium, Sydney, Australia, July 2019.

Jürgen Beyerer, Frank Kirchner, Alin Albu-Schäffer, Tamim Asfour, Sven Behnke, Andreas Birk, Wolfram Burgard, Thomas Deserno, Jeronimo Dzaack, Thomas Egloffstein, Michael Gustmann, Andreas Nüchter, Patrick Rosen, Hauke Speth, Sirko Straube, Igor Tchouchenkov, Martin Zimmermann:
Retten, schützen, erkunden: Lernende Systeme in lebensfeindlichen Umgebungen - Potenziale, Herausforderungen und Gestaltungsoptionen
Plattform Lernende Systeme, Bericht der AG Lebensfeindliche Umgebungen, Juni 2019.

Daniel Schleich,Tobias Klamt, and Sven Behnke:
Value Iteration Networks on Multiple Levels of Abstraction
In Proceedings of Robotics: Science and Systems (RSS), Freiburg, Germany, June 2019.
[Video]

Jörg Wagner, Jan Koehler, Tobias Gindele, Leon Hetzel, Jakob Thaddaeus Wiedemer, and Sven Behnke:
Interpretable and Fine-Grained Visual Explanations for Convolutional Neural Networks
In Proceedings of IEEE Conference on Computer Vision and Pattern Recognition (CVPR), Long Beach, CA, USA, June 2019.
[Supplementary Material] [Poster]

Volker Krueger, Francesco Rovida, Bjarne Grossmann, Ronald Petrick, Matthew Crosby, Arnaud Charzoule, German Martin Garcia, Sven Behnke, Cesar Toscano, Germano Veiga:
Testing the Vertical and Cyber-Physical Integration of Cognitive Robots in Manufacturing
Robotics and Computer-Integrated Manufacturing, vol. 57, pp. 213-229, Elsevier, June 2019.

Jan Razlaw, Jan Quenzel, and Sven Behnke:
Detection and Tracking of Small Objects in Sparse 3D Laser Range Data
In Proceedings of IEEE International Conference on Robotics and Automation (ICRA), Montreal, Canada, May 2019.

Matthias Nieuwenhuisen and Sven Behnke:
Search-based 3D Planning and Trajectory Optimization for Safe Micro Aerial Vehicle Flight Under Sensor Visibility Constraints
In Proceedings of IEEE International Conference on Robotics and Automation (ICRA), Montreal, Canada, May 2019.
Finalist for Best Paper Award on Unmanned Aerial Vehicles.

Tobias Klamt and Sven Behnke:
Towards Learning Abstract Representations for Locomotion Planning in High-dimensional State Spaces
In Proceedings of IEEE International Conference on Robotics and Automation (ICRA), Montreal, Canada, May 2019.
[Video]

Hafez Farazi and Sven Behnke:
Frequency Domain Transformer Networks for Video Prediction
In Proceedings of 27th European Symposium on Artificial Neural Networks, Computational Intelligence and Machine Learning (ESANN), Bruges, Belgium, April 2019.
[Source code]

Niloofar Azizi, Nils Wandel, and Sven Behnke:
Complex Valued Gated Auto-encoder for Video Frame Prediction
In Proceedings of 27th European Symposium on Artificial Neural Networks, Computational Intelligence and Machine Learning (ESANN), Bruges, Belgium, April 2019.
[Source code]

Ali Oguz Uzman, Jannis Horn, and Sven Behnke:
Learning Super-resolution 3D Segmentation of Plant Root MRI Images from Few Examples
In Proceedings of 27th European Symposium on Artificial Neural Networks, Computational Intelligence and Machine Learning (ESANN), Bruges, Belgium, April 2019.

Jens Behley, Martin Garbade, Andres Milioto, Jan Quenzel, Sven Behnke, Cyrill Stachniss, and Juergen Gall:
A Dataset for Semantic Segmentation of Point Cloud Sequences
Preprint arXiv:1904.01416, April 2019.
[Video]

Jan Quenzel, Matthias Nieuwenhuisen, David Droeschel, Marius Beul, Sebastian Houben, and Sven Behnke:
Autonomous MAV-based Indoor Chimney Inspection with 3D Laser Localization and Textured Surface Reconstruction
Journal of Intelligent & Robotic Systems (JINT) 93(1): 317-335, Springer, February 2019.
[Video]

Marius Beul, Matthias Nieuwenhuisen, Jan Quenzel, Radu Alexandru Rosu, Jannis Horn, Dmytro Pavlichenko, Sebastian Houben, and Sven Behnke:
Team NimbRo at MBZIRC 2017: Fast Landing on a Moving Target and Treasure Hunting with a Team of Micro Aerial Vehicles
Journal of Field Robotics (JFR) 36(1):204-229, Wiley, January 2019.
[Video]

Max Schwarz, David Droeschel, Christian Lenz, Arul Selvam Periyasamy, En Yen Puang, Jan Razlaw, Diego Rodriguez, Sebastian Schüller, Michael Schreiber, and Sven Behnke:
Team NimbRo at MBZIRC 2017: Autonomous Valve Stem Turning using a Wrench
Journal of Field Robotics (JFR) 36(1):170-182, Wiley, January 2019.

2018

Grzegorz Ficht, Hafez Farazi, Andre Brandenburger, Diego Rodriguez, Dmytro Pavlichenko, Philipp Allgeuer, Mojtaba Hosseini, and Sven Behnke:
NimbRo-OP2X: Adult-sized Open-source 3D Printed Humanoid Robot
In Proceedings of IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids), Beijing, China, November 2018.
[Hardware] [Software]

Dmytro Pavlichenko, Diego Rodriguez, Max Schwarz, Christian Lenz, Arul Selvam Periyasamy, and Sven Behnke:
Autonomous Dual-Arm Manipulation of Familiar Objects
In Proceedings of IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids), Beijing, China, November 2018.

Grzegorz Ficht and Sven Behnke:
Online Balanced Motion Generation for Humanoid Robots
In Proceedings of IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids), Beijing, China, November 2018.

Diego Rodriguez, Antonio Di Guardo, Antonio Frisoli, and Sven Behnke:
Learning Postural Synergies for Categorical Grasping through Shape Space Registration
In Proceedings of IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids), Beijing, China, November 2018.
[Software]

Philipp Allgeuer and Sven Behnke:
Bipedal Walking with Corrective Actions in the Tilt Phase Space
In Proceedings of IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids), Beijing, China, November 2018.

Philipp Allgeuer and Sven Behnke:
Tilt Rotations and the Tilt Phase Space
In Proceedings of IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids), Beijing, China, November 2018.

Nicola Krombach, David Droeschel, Sebastian Houben, and Sven Behnke:
Feature-based Visual Odometry Prior for Real-time Semi-dense Stereo SLAM
Robotics and Autonomous Systems (RAS) 109:38-58 Elsevier, 2018.

Niloofar Azizi, Hafez Farazi, and Sven Behnke:
Location Dependency in Video Prediction
In Proceedings of 27th International Conference on Artificial Neural Networks (ICANN), Rhodes, Greece, October 2018.

Arul Selvam Periyasamy, Max Schwarz, and Sven Behnke:
Robust 6D Object Pose Estimation in Cluttered Scenes using Semantic Segmentation and Pose Regression Networks
In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, October 2018.
[Video]

Jan Quenzel, Jannis Horn, Sebastian Houben, and Sven Behnke:
Keyframe-based Photometric Online Calibration and Color Correction
In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, October 2018.
[Video]

Philipp Allgeuer and Sven Behnke:
Fused Angles and the Deficiencies of Euler Angles
In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, October 2018.

Tobias Klamt, Diego Rodriguez, Max Schwarz, Christian Lenz, Dmytro Pavlichenko, David Droeschel, and Sven Behnke:
Supervised Autonomous Locomotion and Manipulation for Disaster Response with a Centaur-like Robot
In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, October 2018.
[Video]

Joerg Wagner, Volker Fischer, Michael Herman, and Sven Behnke:
Functionally Modular and Interpretable Temporal Filtering for Robust Segmentation
In Proceedings of 29th British Machine Vision Conference (BMVC), Newcastle, UK,September 2018.
[Supplementary Material]

Marius Beul, David Droeschel, Matthias Nieuwenhuisen, Jan Quenzel, Sebastian Houben, and Sven Behnke:
Fast Autonomous Flight in Warehouses for Inventory Applications
IEEE Robotics and Automation Letters (RA-L) 3(4):3121-3128, 2018.
In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, October 2018.
[Video]

Diego Rodriguez, André Brandenburger, and Sven Behnke:
Combining Simulations and Real-robot Experiments for Bayesian Optimization of Bipedal Gait Stabilization
In Proceedings of 22nd RoboCup International Symposium, Montreal, Canada, June 2018.

Dmytro Pavlichenko, Germán Martín García, Seongyong Koo, and Sven Behnke:
KittingBot: A Mobile Manipulation Robot for Collaborative Kitting in Automotive Logistics
In Proceedings of 15th International Conference on Intelligent Autonomous Systems (IAS-15), Baden-Baden, Germany, June 2018.

Diego Rodriguez and Sven Behnke:
Transferring Category-based Functional Grasping Skills by Latent Space Non-Rigid Registration
IEEE Robotics and Automation Letters (RA-L), Special Issue on Learning and Control for Autonomous Manipulation Systems: the Role of Dimensionality Reduction, 3(3):2662-2669, April 2018.
[Video]

Grzegorz Ficht, Dmytro Pavlichenko, Philipp Allgeuer, Hafez Farazi, Diego Rodriguez, André Brandenburger, Johannes Kürsch, Michael Schreiber, and Sven Behnke:
Grown-up NimbRo Robots Winning RoboCup 2017 Humanoid AdultSize Soccer Competitions
In RoboCup 2017: Robot World Cup XXI, LNCS 11175, pp. 448-460, Springer, 2018.

Diego Rodriguez, Hafez Farazi, Philipp Allgeuer, Grzegorz Ficht, Dmytro Pavlichenko, André Brandenburger, Johannes Kürsch, and Sven Behnke:
Advanced Soccer Skills and Team Play of RoboCup 2017 TeenSize Winner NimbRo
In RoboCup 2017: Robot World Cup XXI, LNCS 11175, pp. 435-447, Springer, 2018.

Jörg Wagner, Volker Fischer, Michael Herman, and Sven Behnke:
Hierarchical Recurrent Filtering for Fully Convolutional DenseNets
In Proceedings of 26th European Symposium on Artificial Neural Networks, Computational Intelligence and Machine Learning (ESANN), Bruges, Belgium, April 2018.

Diego Rodriguez, Corbin Cogswell, Seongyong Koo, and Sven Behnke:
Transferring Grasping Skills to Novel Instances by Latent Space Non-Rigid Registration
In Proceedings of IEEE International Conference on Robotics and Automation (ICRA), Brisbane, Australia, May 2018.
[Video]

Max Schwarz, Christian Lenz, German Martin Garcia, Seongyong Koo, Arul Selvam Periyasamy, Michael Schreiber, and Sven Behnke:
Fast Object Learning and Dual-arm Coordination for Cluttered Stowing, Picking, and Packing
In Proceedings of  IEEE International Conference on Robotics and Automation (ICRA), pp. 3347-3354, Brisbane, Australia, May 2018.
[Video]

David Droeschel and Sven Behnke:
Efficient Continuous-time SLAM for 3D Lidar-based Online Mapping
In Proceedings of IEEE International Conference on Robotics and Automation (ICRA), Brisbane, Australia, May 2018.
[Video]

Tobias Klamt and Sven Behnke:
Planning Hybrid Driving-Stepping Locomotion on Multiple Levels of Abstraction
In Proceedings of IEEE International Conference on Robotics and Automation (ICRA), pp. 1695-1702, Brisbane, Australia, May 2018.
[Video]

Max Schwarz, Marius Beul, David Droeschel, Tobias Klamt, Christian Lenz, Dmytro Pavlichenko, Tobias Rodehutskors, Michael Schreiber, Nikita Araslanov, Ivan Ivanov, Jan Razlaw, Sebastian Schüller, David Schwarz, Angeliki Topalidou-Kyniazopoulou, and Sven Behnke:
DRC Team NimbRo Rescue: Perception and Control for Centaur-like Mobile Manipulation Robot Momaro
In: The Darpa Robotics Challenge Finals: Humanoid Robots To The Rescue, Springer Tracts in Advanced Robotics (STAR), vol. 121, pp. 145-190, April 2018.

Max Schwarz, Anton Milan, Arul Selvam Periyasamy, and Sven Behnke:
RGB-D Object Detection and Semantic Segmentation for Autonomous Manipulation in Clutter
International Journal of Robotics Research (IJRR) 37(4-5):437-451, Sage Publications, 2018.

2017

Grzegorz Ficht, Philipp Allgeuer, Hafez Farazi, and Sven Behnke:
NimbRo-OP2: Grown-up 3D Printed Open Humanoid Platform for Research
In Proceedings of IEEE-RAS International Conference on Humanoid Robots (Humanoids), Birmingham, UK, November 2017.
[Video] [CAD Release] [Software]

Sven Behnke, Raymond Sheh, Sanem Sariel, and Daniel D. Lee (editors):
RoboCup 2016: Robot World Cup XX
Lecture Notes in Computer Science (LNCS), vol. 9776, Springer, 2017.

Jan Quenzel, Radu Alexandru Rosu, Sebastian Houben, and Sven Behnke:
Online Depth Calibration for RGB-D Cameras using Visual SLAM
In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, Canada, September 2017.
[Video]

Hafez Farazi and Sven Behnke:
Online Visual Robot Tracking and Identification using Deep LSTM Networks
In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, Canada, September 2017.
RoboCup Best Paper Award.
[Video]

Tobias Klamt and Sven Behnke:
Anytime Hybrid Driving-Stepping Locomotion Planning
In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, Canada, September 2017.
Finalist for Best Paper Award on Safety Security and Rescue Robotics.
[Video]

Dmytro Pavlichenko and Sven Behnke:
Efficient Stochastic Multicriteria Arm Trajectory Optimization
In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, Canada, September 2017.
[Video]

Marius Beul, Sebastian Houben, Matthias Nieuwenhuisen, and Sven Behnke:
Fast Autonomous Landing on a Moving Target at MBZIRC
In Proceedings of European Conference on Mobile Robotics (ECMR), Paris, France, September 2017.
[Video]

Matthias Nieuwenhuisen, Marius Beul, Radu Alexandru Rosu, Jan Quenzel, Dmytro Pavlichenko, Sebastian Houben, and Sven Behnke:
Collaborative Object Picking and Delivery with a Team of Micro Aerial Vehicles at MBZIRC
In Proceedings of European Conference on Mobile Robotics (ECMR), Paris, France, September 2017.
[Video]

Seongyong Koo, Grzegorz Ficht, Germán Martín García, Dmytro Pavlichenko, Martin Raak, and Sven Behnke:
Robolink Feeder: Reconfigurable Bin-Picking and Feeding with a Lightweight Cable-Driven Manipulator
In Proceedings of 13th IEEE International Conference on Automation Science and Engineering (CASE), Xi'an, China, August 2017.
[Video]

Dirk Holz:
Efficient 3D Segmentation, Registration and Mapping for Mobile Robots
Dissertation, Mathematisch-Naturwissenschaftliche Fakultät, Universität Bonn, July 2017.

Matthias Nieuwenhuisen, Jan Quenzel, Marius Beul, David Droeschel, Sebastian Houben, and Sven Behnke:
ChimneySpector: Autonomous MAV-based Indoor Chimney Inspection Employing 3D Laser Localization and Textured Surface Reconstruction
In Proceedings of International Conference on Unmanned Aircraft Systems (ICUAS), Miami, FL, USA, June 2017.
[Video]

Marius Beul and Sven Behnke:
Fast Full State Trajectory Generation for Multirotors
In Proceedings of International Conference on Unmanned Aircraft Systems (ICUAS), Miami, FL, USA, June 2017.
[Video]

Max Schwarz and Sven Behnke:
Data-efficient Deep Learning for RGB-D Object Perception in Cluttered Bin Picking
In Warehouse Picking Automation Workshop (WPAW), IEEE International Conference on Robotics and Automation (ICRA), Singapore, May 2017.

Max Schwarz, Anton Milan, Christian Lenz, Aura Munoz, Arul Selvam Periyasamy, Michael Schreiber, Sebastian Schüller, and Sven Behnke:
NimbRo Picking: Versatile Part Handling for Warehouse Automation
In Proceedings of IEEE International Conference on Robotics and Automation (ICRA), Singapore, May 2017.
Finalist for Best Automation Paper Award.
[Video] [Source]

Jörg Wagner, Volker Fischer, Michael Herman, and Sven Behnke:
Learning Semantic Prediction using Pretrained Deep Feedforward Networks
In Proceedings of 25th European Symposium on Artificial Neural Networks, Computational Intelligence and Machine Learning (ESANN), Bruges, Belgium, April 2017.

Marius Beul, Nicola Krombach, Matthias Nieuwenhuisen, David Droeschel, and Sven Behnke:
Autonomous Navigation in a Warehouse with a Cognitive Micro Aerial Vehicle
In Robot Operating System (ROS), The Complete Reference (Volume 2), pp. 487-524, Springer 2017.

Hafez Farazi, Philipp Allgeuer, Grzegorz Ficht, André Brandenburger, Dmytro Pavlichenko, Michael Schreiber, and Sven Behnke:
RoboCup 2016 Humanoid TeenSize Winner NimbRo: Robust Visual Perception and Soccer Behaviors
In: RoboCup 2016: Robot World Cup XX, LNCS 9776, pp. 478-490, Springer, 2017.

Philipp Allgeuer, Grzegorz Ficht, Hafez Farazi, Michael Schreiber, and Sven Behnke:
First International HARTING Open Source Prize Winner: The igus Humanoid Open Platform
In: RoboCup 2016: Robot World Cup XX, LNCS 9776, pp. 625-633, Springer, 2017.

Max Schwarz, Tobias Rodehutskors, David Droeschel, Marius Beul, Michael Schreiber, Nikita Araslanov, Ivan Ivanov, Christian Lenz, Jan Razlaw, Sebastian Schüller, David Schwarz, Angeliki Topalidou-Kyniazopoulou, and Sven Behnke:
NimbRo Rescue: Solving Disaster-Response Tasks through Mobile Manipulation Robot Momaro
Journal of Field Robotics (JFR) 34(2):400–425, 2017.

Mircea Serban Pavel, Hannes Schulz, and Sven Behnke:
Object class segmentation of RGB-D video using recurrent convolutional neural networks
Neural Networks 88: 105-113, Elsevier, 2017.

David Droeschel, Max Schwarz, and Sven Behnke:
Continuous Mapping and Localization for Autonomous Navigation in Rough Terrain using a 3D Laser Scanner
Robotics and Autonomous Systems, volume 88, pages 104–115, Elsevier, February 2017.
doi: 10.1016/j.robot.2016.10.017

Hannes Schulz:
Learning Object Recognition and Object Class Segmentation with Deep Neural Networks on GPU
Dissertation, Mathematisch-Naturwissenschaftliche Fakultät, Universität Bonn, 2017.

2016

Philipp Allgeuer and Sven Behnke:
Omnidirectional Bipedal Walking with Direct Fused Angle Feedback Mechanisms
In Proceedings of IEEE-RAS International Conference on Humanoid Robots (Humanoids), Cancun, Mexico, November 2016.
[Video]

Jörg Stückler, Max Schwarz, and Sven Behnke:
Mobile Manipulation, Tool Use, and Intuitive Interaction for Cognitive Service Robot Cosero
Frontiers in Robotics and AI, section Humanoid Robotics, vol. 3, November 2016.

Philipp Allgeuer, Hafez Farazi, Grzegorz Ficht, Michael Schreiber, and Sven Behnke:
The igus Humanoid Open Platform: A Child-sized 3D Printed Open-Source Robot for Research
German Journal on Artificial Intelligence (KI), volume 30, issue 3-4, pp. 315-319, 2016.

German Martin Garcia, Farzad Husain, Hannes Schulz, Simone Frintrop, Carme Torras, and Sven Behnke:
Semantic Segmentation Priors for Object Discovery
In Proceedings of: 23rd International Conference on Pattern Recognition (ICPR), Cancun, Mexico, December 2016.

Sebastian Houben, Jan Quenzel, Nicola Krombach, and Sven Behnke:
Efficient Multi-camera Visual-Inertial SLAM for Micro Aerial Vehicles
In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Deajeon, Korea, October 2016.
[Video] [YouTube]

Matthias Nieuwenhuisen and Sven Behnke:
Local Multiresolution Trajectory Optimization for Micro Aerial Vehicles Employing Continuous Curvature Transitions
In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Deajeon, Korea, October 2016.
[Video] [YouTube]

Sebastian Houben, David Droeschel, and Sven Behnke:
Joint 3D Laser and Visual Fiducial based SLAM for a Micro Aerial Vehicle
In Proceedings of IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI), Baden-Baden, Germany, September 2016.

Nikita Araslanov, Seongyong Koo, Juergen Gall, and Sven Behnke:
Efficient Single-view 3D Co-segmentation using Shape Similarity and Spatial Part Relations
In Proceedings of 38th German Conference on Pattern Recognition (GCPR), Hannover, September 2016.

Jan Quenzel, Nils Papenberg, and Sven Behnke:
Robust Extrinsic Calibration of Multiple Stationary Laser Range Finders
In Proceedings of 12th IEEE International Conference on Automation Science and Engineering (CASE), Fort Worth, TX, USA, August 2016.
[Video]

Max Schwarz, Marius Beul, David Droeschel, Sebastian Schüller, Arul Selvam Periyasamy, Christian Lenz, Michael Schreiber, and Sven Behnke:
Supervised Autonomy for Exploration and Mobile Manipulation in Rough Terrain with a Centaur-like Robot
Frontiers in Robotics and AI, section Humanoid Robotics, vol. 3, article 57, October 2016.
DOI: 10.3389/frobt.2016.00057

Nicola Krombach, David Droeschel, and Sven Behnke:
Combining Feature-based and Direct Methods for Semi-dense Real-time Stereo Visual Odometry
In Proceedings of 14th International Conference on Intelligent Autonomous Systems (IAS), Shanghai, China, July 2016.
Best Paper Award. [KITTY video] [EuRoC video]

Max Schwarz, Sebastian Schüller, Christian Lenz, David Droeschel, and Sven Behnke:
Supervised Autonomy for Exploration and Mobile Manipulation in Rough Terrain
In Proceedings of 14th International Conference on Intelligent Autonomous Systems (IAS), Shanghai, China, July 2016.

Hafez Farazi and Sven Behnke:
Real-Time Visual Tracking and Identification for a Team of Homogeneous Humanoid Robots
In Proceedings of 20th RoboCup International Symposium, Leipzig, Germany, July 2016.
[Video]

David Droeschel and Sven Behnke:
MRSLaserMap: Local Multiresolution Grids for Efficient 3D Laser Mapping and Localization
In Proceedings of 20th RoboCup International Symposium, Leipzig, Germany, July 2016.
[Source code]

Dirk Holz and Sven Behnke:
Fast Edge-Based Detection and Localization of Transport Boxes and Pallets in RGB-D Images for Mobile Robot Bin Picking
In Proceedings of 47th International Symposium on Robotics (ISR), Munich, Germany, June 2016.

Marius Beul and Sven Behnke:
Analytical Time-optimal Trajectory Generation and Control for Multirotors
In Proceedings of International Conference on Unmanned Aircraft Systems (ICUAS), Arlington, VA, USA, June 2016.
[Video]

Farzad Husain, Hannes Schulz, Babette Dellen, Carme Torras, and Sven Behnke:
Combining Semantic and Geometric Features for Object Class Segmentation of Indoor Scenes
IEEE Robotics and Automation Letters (RA-L) 2(1):49-55, 2016.
Presented at IEEE International Conference on Robotics and Automation (ICRA), Stockholm, Sweden, May 2016.

Seongyong Koo and Sven Behnke:
Focused On-line Visual-Motor Coordination for a Dual-arm Robot Manipulator
In Proceedings of IEEE International Conference on Robotics and Automation (ICRA), pp. 1579-1586, Stockholm, Sweden, May 2016.
[Video] [Source code]

Max Schwarz, Tobias Rodehutskors, Michael Schreiber, and Sven Behnke:
Hybrid Driving-Stepping Locomotion with the Wheeled-legged Robot Momaro
In Proceedings of IEEE International Conference on Robotics and Automation (ICRA), pp. 5589-5595, Stockholm, Sweden, May 2016.
[Video]

Jörg Wagner, Volker Fischer, Michael Herman, and Sven Behnke:
Multispectral Pedestrian Detection using Deep Fusion Convolutional Neural Networks
In Proceedings of 24th European Symposium on Artificial Neural Networks, Computational Intelligence and Machine Learning (ESANN), Bruges, Belgium, April 2016.

Marcell Missura:
Analytic and Learned Footstep Control for Robust Bipedal Walking
Dissertation, Mathematisch-Naturwissenschaftliche Fakultät, Universität Bonn, 2016.

Hannes Schulz, Benedikt Waldvogel, Rasha Sheikh, and Sven Behnke:
CURFIL: A GPU Library for Image Labeling with Random Forests
In: Computer Vision, Imaging and Computer Graphics Theory and Applications, volume 598 of Communications in Computer and Information Science, pp. 416-432, Springer, 2016.

David Droeschel, Matthias Nieuwenhuisen, Marius Beul, Dirk Holz, Jörg Stückler, and Sven Behnke:
Multi-Layered Mapping and Navigation for Autonomous Micro Aerial Vehicles
Journal of Field Robotics, 33(4):451-475, Wiley, 2016.

Jörg Stückler, Max Schwarz, Mark Schadler, Angeliki Topalidou-Kyniazopoulou, and Sven Behnke:
NimbRo Explorer: Semi-Autonomous Exploration and Mobile Manipulation in Rough Terrain
Journal of Field Robotics 33(4):411-430, Wiley, 2016.

Matthias Nieuwenhuisen, David Droeschel, Marius Beul, and Sven Behnke:
Autonomous Navigation for Micro Aerial Vehicles in Complex GNSS-denied Environments
Journal of Intelligent and Robotic Systems, Volume 84, Issue 1–4,  pp 199–216, Springer, 2016.

2015

Dirk Holz, Alexandru-Eugen Ichim, Federico Tombari, Radu B. Rusu, and Sven Behnke:
Registration with the Point Cloud Library - A Modular Framework for Aligning in 3-D
IEEE Robotics and Automation Magazine, 22(4):110-124, December 2015.

Kathrin Gräve:
Lernen komplexer Aufgaben aus Demonstration und eigener Erfahrung
Dissertation, Mathematisch-Naturwissenschaftliche Fakultät, Universität Bonn, 2015.

Jörg Stückler, Benedikt Waldvogel, Hannes Schulz, and Sven Behnke:
Dense Real-Time Mapping of Object-Class Semantics from RGB-D Video
Journal of Real-Time Image Processing 10(4):599-609, Springer, 2015.

Tobias Rodehutskors, Max Schwarz, and Sven Behnke:
Intuitive Bimanual Telemanipulation under Communication Restrictions by Immersive 3D Visualization and Motion Tracking
In Proceedings of IEEE-RAS International Conference on Humanoid Robots (Humanoids), Seoul, Korea, November 2015.

Philipp Allgeuer, Hafez Farazi, Michael Schreiber, and Sven Behnke:
Child-sized 3D Printed igus Humanoid Open Platform
In Proceedings of IEEE-RAS International Conference on Humanoid Robots (Humanoids), Seoul, Korea, November 2015.
[Video]

Hafez Farazi, Philipp Allgeuer, and Sven Behnke:
A Monocular Vision System for Playing Soccer in Low Color Information Environments
In Proceedings of 10th Workshop on Humanoid Soccer Robots, IEEE-RAS International Conference on Humanoid Robots (Humanoids), Seoul, Korea, November 2015.

Matthias Nieuwenhuisen, David Droeschel, Marius Beul, and Sven Behnke:
Autonomous MAV Navigation in Complex GNSS-denied 3D Environments
In Proceedings of IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), Purdue University, West Lafayette, USA, October 2015

Dirk Holz and Sven Behnke:
Registration of Non-Uniform Density 3D Laser Scans for Mapping with Micro Aerial Vehicles
Robotics and Autonomous Systems, vol. 74, pp. 318-330, Elsevier, December 2015.

Reinhard Gerndt, Daniel Seifert, Jacky Baltes, Soroush Sadeghnejad, and Sven Behnke:
Humanoid Robots in Soccer – Robots Versus Humans in RoboCup 2050
IEEE Robotics and Automation Magazine 22(3):147-154, September 2015.

Dirk Holz, Angeliki Topalidou-Kyniazopoulou, Joerg Stueckler, and Sven Behnke:
Real-Time Object Detection, Localization and Verification for Fast Robotic Depalletizing
In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany, September 2015.
[Video]

Marcell Missura and Sven Behnke:
Gradient-Driven Online Learning of Bipedal Push Recovery
In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany, September 2015.
[Video]

Philipp Allgeuer and Sven Behnke:
Fused Angles: A Representation of Body Orientation for Balance
In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany, September 2015.

Shile Li, Seongyong Koo, and Dongheui Lee:
Real-time and Model-free Object Tracking using Particle Filter with Joint Color-Spatial Descriptor
In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany, September 2015.

Marcell Missura and Sven Behnke:
Online Learning of Bipedal Walking Stabilization
German Journal on Artificial Intelligence (KI) 29(4): 401-405, 2015.

Dirk Holz, Angeliki Topalidou-Kyniazopoulou, Francesco Rovida, Mikkel Rath Pedersen, Volker Krüger, and Sven Behnke:
A Skill-Based System for Object Perception and Manipulation for Automating Kitting Tasks
In Proceedings of 20th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA), Luxemburg, September 2015.

Jan Razlaw, David Droeschel, Dirk Holz, and Sven Behnke:
Evaluation of Registration Methods for Sparse 3D Laser Scans
In Proceedings of European Conference on Mobile Robots (ECMR), Lincoln, UK, September 2015.

Matthias Nieuwenhuisen and Sven Behnke:
3D Planning and Trajectory Optimization for Real-time Generation of Smooth MAV Trajectories
In Proceedings of European Conference on Mobile Robots (ECMR), Lincoln, UK, September 2015.

Dirk Holz and Sven Behnke:
Approximate Surface Reconstruction and Registration for RGB-D SLAM
In Proceedings of European Conference on Mobile Robots (ECMR), Lincoln, UK, September 2015.

Nicola Krombach, David Droeschel and Sven Behnke:
Evaluation of Stereo Algorithms for Obstacle Detection with Fisheye Lenses
In Proceedings of 3rd International Conference on Unmanned Aerial Vehicles in Geomatics (UAV-g), Toronto, Canada, August 2015. 

Mircea Serban Pavel, Hannes Schulz and Sven Behnke:
Recurrent Convolutional Neural Networks for Object-Class Segmentation of RGB-D Video
In Proceedings of International Joint Conference on Neural Networks (IJCNN), Killarney, Ireland, July 2015

Marius Beul, Nicola Krombach, Yongfeng Zhong, David Droeschel, Matthias Nieuwenhuisen, and Sven Behnke:
A High-performance MAV for Autonomous Navigation in Complex 3D Environments
In Proceedings of International Conference on Unmanned Aircraft Systems (ICUAS), Denver, USA, June 2015.

Max Schwarz and Sven Behnke:
Semi-autonomous Concurrent Driving-Stepping Locomotion
Late Breaking Result Abstract at IEEE International Conference on Robotics and Automation (ICRA), Seattle, USA, May 2015. [Poster]

Marcell Missura and Sven Behnke:
Online Learning of Sagittal Push Recovery for Bipedal Robots
Late Breaking Result Abstract at IEEE International Conference on Robotics and Automation (ICRA), Seattle, USA, May 2015. [Poster] [Video]

Max Schwarz, Hannes Schulz, and Sven Behnke:
RGB-D Object Recognition and Pose Estimation based on Pre-trained Convolutional Neural Network Features
In Proceedings of IEEE International Conference on Robotics and Automation (ICRA), Seattle, USA, May 2015.

Jörg Stückler and Sven Behnke:
Efficient Dense Rigid-Body Motion Segmentation and Estimation in RGB-D Video
International Journal of Computer Vision (IJCV)113(3):233-245, Springer, 2015.

Jörg Stückler and Sven Behnke:
Perception of Deformable Objects and Compliant Manipulation for Service Robots
In: Soft Robotics: From Theory to Applications, A. Verl, A. Albu-Schäffer, O. Brock, A. Raatz (Eds.), Springer Vieweg, 2015.

Hannes Schulz, Nico Höft, and Sven Behnke:
Depth and Height Aware Semantic RGB-D Perception with Convolutional Neural Networks
In Proceedings of European Symposium on Artificial Neural Networks (ESANN), April 2015.

Hannes Schulz, Benedikt Waldvogel, Rasha Sheikh, and Sven Behnke:
CURFIL: Random Forests for Image Labeling on GPU
In Proceedings of 10th International Conference on Computer Vision Theory and Applications (VISAPP), March 2015.
[Source code]

Hannes Schulz, Kyunghyun Cho, Tapani Raiko, and Sven Behnke:
Two-Layer Contractive Encodings for Learning Stable Nonlinear Features
Neural Networks 64:4-11, Elsevier, 2015.

2014

Jörg-Dieter Stückler:
Efficient Dense Registration, Segmentation, and Modeling Methods for RGB-D Environment Perception
Dissertation, Mathematisch-Naturwissenschaftliche Fakultät, Universität Bonn, 2014. 
Winner of 2015 Georges Giralt PhD Award.

Jörg Stückler and Sven Behnke:
Adaptive Tool-Use Strategies for Anthropomorphic Service Robots
In Proceedings of 14th IEEE-RAS International Conference on Humanoid Robots (Humanoids), Madrid, Spain, November 2014.
[Video]

Marcell Missura and Sven Behnke:
Online Learning of Foot Placement for Balanced Bipedal Walking
In Proceedings of 14th IEEE-RAS International Conference on Humanoid Robots (Humanoids), Madrid, Spain, November 2014.
[Video]

Philipp Allgeuer and Sven Behnke:
Robust Sensor Fusion for Robot Attitude Estimation
In Proceedings of 14th IEEE-RAS International Conference on Humanoid Robots (Humanoids), Madrid, Spain, November 2014.
[Source code]

Philipp Allgeuer and Sven Behnke:
Fused Angles for Body Orientation Representation
In Proceedings of 9th Workshop on Humanoid Soccer Robots,14th IEEE-RAS International Conference on Humanoid Robots (Humanoids), Madrid, Spain, November 2014. [Source code]

Max Schwarz, Jörg Stückler, and Sven Behnke:
Mobile Teleoperation Interfaces for Domestic Service Robots
In Proceedings of Workshop on How to Make Best Use of a Human Supervisor for Semi-Autonomous Humanoid Operation, 14th IEEE-RAS International Conference on Humanoid Robots (Humanoids), Madrid, Spain, November 2014.

Andreas Christian Müller:
Methods for Learning Structured Prediction in Semantic Segmentation of Natural Images
Dissertation, Mathematisch-Naturwissenschaftliche Fakultät, Universität Bonn, 2014. urn:nbn:de:hbz:5n-37289

Nico Höft, Hannes Schulz and Sven Behnke:
Fast Semantic Segmentation of RGB-D Scenes with GPU-Accelerated Deep Neural Networks
In Proceedings of 37th German Conference on Artificial Intelligence (KI), pp. 80-85, Springer LNCS 8736,
Stuttgart, September 2014.

Hannes Schulz and Sven Behnke:
Structured Prediction for Object Detection in Deep Neural Networks
In Proceedings of 24th International Conference on Artificial Neural Networks (ICANN), Hamburg, September 2014.

Dirk Holz and Sven Behnke:
Approximate Triangulation and Region Growing for Efficient Segmentation and Smoothing of Range Images
Robotics and Autonomous Systems 62(9):1282-1293, September 2014.

Jacky Baltes, Soroush Sadeghnejad, Daniel Seifert, and Sven Behnke:
RoboCup Humanoid League Rule Developments 2002-2014 and Future Perspectives
In Proceedings of 18th RoboCup International Symposium, Joao Pessoa, Brasil, July 2014.

David Schwarz, Max Schwarz, Jörg Stückler, and Sven Behnke:
Cosero, find my Keys! Object Localization and Retrieval using Bluetooth Low Energy Tags
In Proceedings of 18th RoboCup International Symposium, Joao Pessoa, Brasil, July 2014.

Marcell Missura and Sven Behnke:
Balanced Walking with Capture Steps
In Proceedings of 18th RoboCup International Symposium, Joao Pessoa, Brasil, July 2014.
Best Paper Award
[Video]

Sven Behnke, Manuela M. Veloso, Arnoud Visser, and Rong Xiong (editors):
RoboCup 2013: Robot World Cup XVII
Lecture Notes in Computer Science (LNCS), vol. 8371, Springer, 2014.

David Droeschel, Dirk Holz, and Sven Behnke:
Omnidirectional Perception for Lightweight MAVs using a Continously Rotating 3D Laser Scanner
Photogrammetrie Fernerkundung Geoinformation (PFG), volume 5, pp. 451-464, 2014.

David Droeschel, Jörg Stückler, and Sven Behnke:
Local Multi-Resolution Surfel Grids for MAV Motion Estimation and 3D Mapping
In Proceedings of 13th International Conference on Intelligent Autonomous Systems (IAS), Padova, Italy, July 2014.

Matthias Nieuwenhuisen and Sven Behnke:
Layered Mission and Path Planning for MAV Navigation with Partial Environment Knowledge
In proceedings of 13th International Conference on Intelligent Autonomous Systems (IAS), Padova, Italy, July 2014.

Ricarda Steffens, Matthias Nieuwenhuisen, and Sven Behnke:
Continuous Motion Planning for Service Robots with Multiresolution in Time
In Proceedings of 13th International Conference on Intelligent Autonomous Systems (IAS), Padova, Italy, July 2014.

Dirk Holz and Sven Behnke:
Mapping with Micro Aerial Vehicles by Registration of Sparse 3D Laser Scans
In Proceedings of 13th International Conference on Intelligent Autonomous Systems (IAS), Padova, Italy, July 2014.

Andreas C. Müller and Sven Behnke:
PyStruct - Learning Structured Prediction in Python
Journal of Machine Learning Research (JMLR) 15(Jun):2055?2060, 2014

Mark Schadler, Jörg Stückler, and Sven Behnke:
Rough Terrain 3D Mapping and Navigation using a Continuously Rotating 2D Laser Scanner
German Journal on Artificial Intelligence (KI) 28(2):93-99, Springer, 2014.

Jörg Stückler, Arno Gutt, and Sven Behnke:
Combining the Strengths of Sparse Interest Point and Dense Image Registration for RGB-D Odometry
In Proceedings of Joint 45th International Symposium on Robotics (ISR) and 8th German Conference on Robotics (ROBOTIK), Munich, June 2014.

Matthias Nieuwenhuisen and Sven Behnke:
Hierarchical Planning with 3D Local Multiresolution Obstacle Avoidance for Micro Aerial Vehicles
In Proceedings of Joint 45th International Symposium on Robotics (ISR) and 8th German Conference on Robotics (ROBOTIK), Munich, June 2014.

David Droeschel and Sven Behnke:
3D Local Multiresolution Grid for Aggregation of Omnidirectional Distance Measurements on a Micro Aerial Vehicle
In Proceedings of Joint 45th International Symposium on Robotics (ISR) and 8th German Conference on Robotics (ROBOTIK), Munich, June 2014.

Dirk Holz and Sven Behnke:
Registration of Non-Uniform Density 3D Point Clouds using Approximate Surface Reconstruction
In Proceedings of Joint 45th International Symposium on Robotics (ISR) and 8th German Conference on Robotics (ROBOTIK), Munich, June 2014.

Max Schwarz and Sven Behnke:
Local Navigation in Rough Terrain using Omnidirectional Height
In Proceedings of Joint 45th International Symposium on Robotics (ISR) and 8th German Conference on Robotics (ROBOTIK), Munich, June 2014.

Marius Beul, Rainer Worst, and Sven Behnke:
Nonlinear Model-based Position Control for Quadrotor UAVs
In Proceedings of Joint 45th International Symposium on Robotics (ISR) and 8th German Conference on Robotics (ROBOTIK), Munich, June 2014.

Jörg Stückler and Sven Behnke:
Efficient Deformable Registration of Multi-Resolution Surfel Maps for Object Manipulation Skill Transfer
In Proceedings of IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, May 2014.

Kathrin Gräve and Sven Behnke:
Bayesian Exploration and Interactive Demonstration in Continuous State MAXQ-Learning
In Proceedings of IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, May 2014.

David Droeschel, Jörg Stückler, and Sven Behnke:
Local Multi-Resolution Representation for 6D Motion Estimation and Mapping with a Continuously Rotating 3D Laser Scanner
In Proceedings of IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, May 2014.

Andreas Christian Müller and Sven Behnke:
Learning Depth-Sensitive Conditional Random Fields for Semantic Segmentation of RGB-D Images
In Proceedings of IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, May 2014. 

Matthias Nieuwenhuisen, Marius Beul, David Droeschel, and Sven Behnke:
Obstacle Detection and Navigation Planning for Autonomous Micro Aerial Vehicles
In Proceedings of International Conference on Unmanned Aircraft Systems (ICUAS), Orlando, USA, May 2014.

Lasse Klingbeil, Matthias Nieuwenhuisen, Johannes Schneider, Christian Eling, David Droeschel, Dirk Holz, Thomas Läbe, Wolfgang Förstner, Sven Behnke, and Heiner Kuhlmann:
Towards Autonomous Navigation of an UAV-based Mobile Mapping System
In Proceedings of 4th International Conference on Machine Control & Guidance (MCG), Braunschweig, March 2014.

Max Schwarz, Jörg Stückler, and Sven Behnke:
Mobile Teleoperation Interfaces with Adjustable Autonomy for Personal Service Robots
In Proceedings of the 9th ACM/IEEE International Conference on Human-Robot Interaction (HRI), pp. 288-289, Bielefeld, Germany, 2014.

Jörg Stückler, David Droeschel, Kathrin Gräve, Dirk Holz, Michael Schreiber, Angeliki Topalidou-Kyniazopoulou, Max Schwarz, and Sven Behnke:
Increasing Flexibility of Mobile Manipulation and Intuitive Human-Robot Interaction in RoboCup@Home
RoboCup 2013: Robot World Cup XVII, Lecture Notes in Computer Science 8371, pp. 135-146, Springer, 2014.

Marcell Missura, Cedrick Münstermann, Philipp Allgeuer, Max Schwarz, Julio Pastrana, Sebastian Schueller, Michael Schreiber, and Sven Behnke:
Learning to Improve Capture Steps for Disturbance Rejection in Humanoid Soccer
RoboCup 2013: Robot World Cup XVII, Lecture Notes in Computer Science 8371, pp. 56-67, Springer, 2014.

Andreas Christian Müller and Sven Behnke:
Learning a Loopy Model For Semantic Segmentation Exactly
In Proceedings of 9th International Conference on Computer Vision Theory and Applications (VISAPP), Lisbon, January 2014.

Dirk Holz, Matthias Nieuwenhuisen, David Droeschel, Jörg Stückler, Alexander Berner, Jun Li, Reinhard Klein, and Sven Behnke:
Active Recognition and Manipulation for Mobile Robot Bin Picking
In: Gearing up and accelerating cross-fertilization between academic and industrial robotics research in Europe - Technology transfer experiments from the ECHORD project, vol 94 of Springer Tracts in Advanced Robotics (STAR), pp. 133-153, 2014.

Jörg Stückler and Sven Behnke:
Multi-Resolution Surfel Maps for Efficient Dense 3D Modeling and Tracking
Journal of Visual Communication and Image Representation 25(1):137-147, Springer, January 2014.
[source code]

2013

Hannes Schulz, Kyunghyun Cho, Tapani Raiko, and Sven Behnke:
Two-Layer Contractive Encodings with Shortcuts for Semi-supervised Learning
In Proceedings of 20th International Conference on Neural Information Processing (ICONIP), pp. 450-457, Daegu, Korea, November 2013.

Kathrin Gräve and Sven Behnke:
Learning Sequential Tasks Interactively from Demonstrations and Own Experience
In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Tokyo, Japan, November 2013.
Finalist for CoTeSys Cognitive Robotics Best Paper Award.

Mark Schadler, Jörg Stückler and Sven Behnke:
Multi-Resolution Surfel Mapping and Real-Time Pose Tracking using a Continuously Rotating 2D Laser Scanner
In Proceedings of 11th IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), Linköping, Sweden, October 2013.

Marcell Missura and Sven Behnke:
Omnidirectional Capture Steps for Bipedal Walking
In Proceedings of 13th IEEE-RAS International Conference on Humanoid Robots (Humanoids), Atlanta, GA, October 2013.

Philipp Allgeuer, Max Schwarz, Julio Pastrana, Sebastian Schueller, Marcell Missura and Sven Behnke:
A ROS-Based Software Framework for the NimbRo-OP Humanoid Open Platform.
In Proceedings of 8th Workshop on Humanoid Soccer Robots, IEEE-RAS International Conference on Humanoid Robots (Humanoids), Atlanta, October 2013.

Philipp Allgeuer and Sven Behnke:
Hierarchical and State-based Architectures for Robot Behavior Planning and Control.
In Proceedings of 8th Workshop on Humanoid Soccer Robots, IEEE-RAS International Conference on Humanoid Robots (Humanoids), Atlanta, October 2013.

Marcell Missura and Sven Behnke:
Self-stable Omnidirectional Walking with Compliant Joints.
In Proceedings of 8th Workshop on Humanoid Soccer Robots, IEEE-RAS International Conference on Humanoid Robots (Humanoids), Atlanta, October 2013.

Matthias Nieuwenhuisen and Sven Behnke:
Human-like Interaction Skills for the Mobile Communication Robot Robotinho
In International Journal of Social Robotics (SORO), Special Issue on Emotional Expression and Its Applications, vol. 5(4):549-561, Springer, 2013. DOI: 10.1007/s12369-013-0206-y

Manus McElhone, Jörg Stückler, and Sven Behnke:
Joint Detection and Pose Tracking of Multi-Resolution Surfel Models in RGB-D
In Proceedings of 6th European Conference on Mobile Robots (ECMR), Barcelona, Spain, September 2013.

Matthias Nieuwenhuisen, David Droeschel, Johannes Schneider, Dirk Holz, Thomas Läbe, and Sven Behnke:
Multimodal Obstacle Detection and Collision Avoidance for Micro Aerial Vehicles
In Proceedings of 6th European Conference on Mobile Robots (ECMR), Barcelona, Spain, September 2013.

Torsten Fiolka, Jörg Stückler, Dominik A. Klein, Dirk Schulz, and Sven Behnke:
Distinctive 3D Surface Entropy Features for Place Recognition
In Proceedings of 6th European Conference on Mobile Robots (ECMR), Barcelona, Spain, September 2013.

Jörg Stückler and Sven Behnke:
Efficient Dense 3D Rigid-Body Motion Segmentation in RGB-D Video
In Proceedings of 24th British Machine Vision Conference (BMVC), Bristol, UK, September 2013. 

Dirk Holz, Matthias Nieuwenhuisen, David Droeschel, Michael Schreiber and Sven Behnke:
Towards Multimodal Omnidirectional Obstacle Detection for Autonomous Unmanned Aerial Vehicles
Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XL-1/W2, 201-206, 2013.

Matthias Nieuwenhuisen, Mark Schadler, and Sven Behnke:
Predictive Potential Field-based Collision Avoidance for Multicopters
In ISPRS Archives of Photogrammetry, Remote Sensing and Spatial Information Sciences. Vol. XL-1/W2, 2013.

David Droeschel, Michael Schreiber, and Sven Behnke:
Omnidirectional Perception for Lightweight UAVs Using a Continuous Rotating 3D Laser Scanner
In Proceedings of International Conference on Unmanned Aerial Vehicles in Geomatics (UAV-g), Rostock, Germany, September 2013.

Alexander Berner, Jun Li, Dirk Holz, Jörg Stückler, Sven Behnke, and Reinhard Klein:
Combining Contour and Shape Primitives for Object Detection and Pose Estimation of Prefabricated Parts
In Proceedings of IEEE International Conference on Image Processing (ICIP), Melbourne, Australia, September 2013.

Jörg Stückler and Sven Behnke:
Hierarchical Object Discovery and Dense Modelling From Motion Cues in RGB-D Video
In Proceedings of 23rd International Joint Conference on Artificial Intelligence (IJCAI), Beijing, China, August 2013.

Zahid Riaz, Thorsten Linder, Sven Behnke, Rainer Worst, Hartmut Surmann:
Efficient Transmission and Rendering of RGB-D Views
In Proceedings of 9th International Symposium on Visual Computing (ISVC), Rethymnon, Crete, Greece, July 2013.

Matthias Nieuwenhuisen, David Droeschel, Dirk Holz, and Sven Behnke:
Omnidirectional Obstacle Perception and Collision Avoidance for Micro Aerial Vehicles
In 2nd Workshop on Resource-Efficient Integration of Perception, Control, and Navigation for Micro Air Vehicles, Robotics: Science and Systems Conference, June 2013.

Max Schwarz and Sven Behnke:
Compliant Robot Behavior using Servo Actuator Models identified by Iterative Learning Control
In Proceedings of 17th RoboCup International Symposium, Eindhoven, Netherlands, June 2013.

Max Schwarz, Julio Pastrana, Philipp Allgeuer, Michael Schreiber, Sebastian Schueller, Marcell Missura and Sven Behnke:
Humanoid TeenSize Open Platform NimbRo-OP
In Proceedings of 17th RoboCup International Symposium, Eindhoven, Netherlands, June 2013.

Ishrat Badami, Jörg Stückler, and Sven Behnke:
Depth-Enhanced Hough Forests for Object-Class Detection and Continuous Pose Estimation
In 3rd Workshop on Semantic Perception, Mapping and Exploration (SPME), Karlsruhe, in conjunction with ICRA 2013.
[source code]

Sven Behnke:
Kooperierende Mobile Roboter
at-Automatisierungstechnik, 61(4): 233-244, Oldenbourg Verlag, DOI:10.1524/auto.2013.0016, 2013.

Matthias Nieuwenhuisen, David Droeschel, Dirk Holz, Jörg Stückler, Alexander Berner, Jun Li, Reinhard Klein, and Sven Behnke:
Mobile Bin Picking with an Anthropomorphic Service Robot
In Proceedings of IEEE International Conference on Robotics and Automation (ICRA), Karlsruhe, May 2013.

Salvador Domínguez, Eduardo Zalama, Jaime Gómez García-Bermejo, Rainer Worst, and Sven Behnke:
Fast 6D Odometry Based on Visual Features and Depth
In Frontiers of Intelligent Autonomous Systems, pp. 5-16, Studies in Computational Intelligence, Volume 466, Springer, 2013.

Hannes Schulz, Johannes A. Postma, Dagmar van Dusschoten, Hanno Scharr, and Sven Behnke:
Plant Root System Analysis from MRI Images
In Computer Vision, Imaging and Computer Graphics. Theory and Application, pp. 411-425, Communications in Computer and Information Science Volume 359, Springer, 2013.

David Jiménez Cabello, Sven Behnke, and Daniel Pizarro Perez:
Linear Plane Border: A Primitive for Range Images Combining Depth Edges and Surface Points
In Proceedings of 8th International Conference on Computer Vision Theory and Applications (VISAPP), Barcelona, Spain, February 2013.

Marcell Missura, Cedrick Münstermann, Malte Mauelshagen, Michael Schreiber and Sven Behnke:
RoboCup 2012 Best Humanoid Award Winner NimbRo TeenSize
RoboCup 2012, Robot Soccer World Cup XVI, LNCS 7500, pp. 89-93, Springer, 2013. 

Jörg Stückler, Ishrat Badami, David Droeschel, Kathrin Gräve, Dirk Holz, Manus McElhone, Matthias Nieuwenhuisen, Michael Schreiber, Max Schwarz, and Sven Behnke:
NimbRo@Home: Winning Team of the RoboCup@Home Competition 2012.
RoboCup 2012, Robot Soccer World Cup XVI,  LNCS 7500, pp. 94-105, Springer, 2013.

Laura Stingaciu, Hannes Schulz, Andreas Pohlmeier, Sven Behnke, Herwig Zilken, Mathieu Javaux, and Harry Vereecken:
In Situ Root System Architecture Extraction from Magnetic Resonance Imaging for Application to Water Uptake Modeling
Vadose Zone Journal, 12(1), 2013.

Tobias K. Kohoutek, David Droeschel, Rainer Mautz, and Sven Behnke:
Indoor Positioning and Navigation using Time-of-Flight Cameras
In Fabio Remondino and David Stoppa (Eds.): TOF Range Imaging Cameras, pp. 165-176, Springer, 2013.

2012

Max Schwarz, Michael Schreiber, Sebastian Schueller, Marcell Missura and Sven Behnke:
NimbRo-OP Humanoid TeenSize Open Platform
In Proceedings of 7th Workshop on Humanoid Soccer Robots, IEEE-RAS International Conference on Humanoid Robots, Osaka, November 2012.

Jörg Stückler, Ricarda Steffens, Dirk Holz, and Sven Behnke:
Efficient 3D object perception and grasp planning for mobile manipulation in domestic environments
Robotics and Autonomous Systems 61(10):1106-1115, October 2013. 

Uwe Hubert, Jörg Stückler, and Sven Behnke:
Bayesian Calibration of the Hand-Eye Kinematics of an Anthropomorphic Robot
In Proceedings of IEEE-RAS International Conference on Humanoid Robots (Humanoids), Osaka, Japan, December 2012.

Hannes Schulz and Sven Behnke:
Deep Learning - Layer-wise Learning of Feature Hierarchies
KI - Künstliche Intelligenz, 26(4), pp. 357-363, November 2012.

Kathrin Gräve and Sven Behnke:
Incremental Action Recognition and Generalizing Motion Generation based on Goal-Directed Features
In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vilamoura, Portugal, October 2012.

Jörg Stückler, Nenad Biresev, and Sven Behnke:
Semantic Mapping Using Object-Class Segmentation of RGB-D Images
In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vilamoura, Portugal, October 2012.

Hannes Schulz and Sven Behnke:
Learning Two-Layer Contractive Encodings
In Proceedings of International Conference on Artificial Neural Networks (ICANN), pp. 620-628, September 2012.

Jörg Stückler and Sven Behnke:
Integrating Depth and Color Cues for Dense Multi-Resolution Scene Mapping Using RGB-D Cameras
In Proceedings of IEEE International Conference on Multisensor Fusion and Information Integration (MFI), Hamburg, Germany, September 2012.
[source code]

Sebastian Muszynski, Jörg Stückler, and Sven Behnke:
Adjustable Autonomy for Mobile Teleoperation of Personal Service Robots
In Proceedings of IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), Paris, France, September 2012.

Torsten Fiolka, Jörg Stückler, Dominik Alexander Klein, Dirk Schulz, and Sven Behnke:
SURE: Surface Entropy for Distinctive 3D Features
In Proc. of Spatial Cognition 2012, Seeon, Germany, September 2012.
[source code]

Andreas Müller, Sebastian Nowozin and Christoph H. Lampert:
Information Theoretic Clustering using Minimum Spanning Trees
DAGM-OAGM, August 2012.

German Martin Garcia, Dominik Klein, Jörg Stückler, Simone Frintrop, and Armin B. Cremers:
Adaptive Multi-cue 3D Tracking of Arbitrary Objects
DAGM-OAGM, August 2012.

Jörg Stückler, David Droeschel, Kathrin Gräve, Dirk Holz, Jochen Kläß, Michael Schreiber, Ricarda Steffens, and Sven Behnke.
Towards Robust Mobility, Flexible Object Manipulation, and Intuitive Multimodal Interaction for Domestic Service Robots.
In: RoboCup 2011: Robot Soccer World Cup XV, LNCS 7416, pp. 51-62, Springer, 2012.

Daniel D. Lee, Seung-Joon Yi, Stephen McGill, Yida Zhang, Sven Behnke, Marcell Missura, Hannes Schulz, Dennis Hong, Jeakweon Han, and Michael Hopkins:
RoboCup 2011 Humanoid League Winners
In: RoboCup 2011: Robot Soccer World Cup XV, LNCS 7416, pp. 37-50, Springer, 2012.

Jörg Stückler and Sven Behnke:
Model Learning and Real-Time Tracking using Multi-Resolution Surfel Maps
In Proc. of the AAAI Conference on Artificial Intelligence (AAAI-12), Toronto, Canada, July 2012.
[source code]

Salvador Dominguez, Eduardo Zalama, Jaime Gomez Garcia-Bermejo, Rainer Worst, and Sven Behnke:
Fast 6D Odometry Based on Visual Features and Depth
In Proc. of  the 12th International Conference on Intelligent Autonomous Systems (IAS-12), Jeju Island, Korea, June 2012.
Finalist for Best Paper Award.

Dirk Holz and Sven Behnke:
Fast Range Image Segmentation and Smoothing using Approximate Surface Reconstruction and Region Growing
In Proc. of  the 12th International Conference on Intelligent Autonomous Systems (IAS-12), Jeju Island, Korea, June 2012.

Jörg Stückler, Dirk Holz, and Sven Behnke:
RoboCup@Home: Demonstrating Everyday Manipulation Skills in RoboCup@Home
IEEE Robotics & Automation Magazine 19(2):34-42, June 2012.

Juan José Alcaraz-Jiménez, Marcell Missura, Humberto Martínez-Barberá, and Sven Behnke:
Lateral Disturbance Rejection for the Nao Robot
In Proceedings of 16th RoboCup International Symposium, Mexico City, June 2012.
Best Paper Award.
In: RoboCup 2012: Robot Soccer World Cup XVI, LNCS 7500, pp. 1-12, Springer, 2013.

Jörg Stückler and Sven Behnke:
Benchmarking Mobile Manipulation in Everyday Environments
In Proc. of the IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO), Munich, Germany, May 2012.

Matthias Nieuwenhuisen, Jörg Stückler, Alexander Berner, Reinhard Klein and Sven Behnke:
Shape-Primitive Based Object Recognition and Grasping
In Proc. of the 7th German Conference on Robotics (ROBOTIK), Munich, Germany, May 2012.

Jochen Kläß, Jörg Stückler, and Sven Behnke:
Efficient Mobile Robot Navigation using 3D Surfel Grid Maps
In Proc. of the German Conference on Robotics (ROBOTIK), Munich, Germany, May 2012.

Jörg Stückler and Sven Behnke:
Robust Real-Time Registration of RGB-D Images using Multi-Resolution Surfel Representations
In Proc. of the German Conference on Robotics (ROBOTIK), Munich, Germany, May 2012.
[source code]

Dirk Holz, Alexander J.B. Trevor, Michael Dixon, Suat Gedikli, Radu B. Rusu and Sven Behnke:
Fast Segmentation of RGB-D Images for Semantic Scene Understanding
In Proc. of the ICRA Workshop on Semantic Perception and Mapping for Knowledge-enabled Service Robotics (SPMK),St. Paul, USA, May 2012.

Filip Muellers, Dirk Holz and Sven Behnke:
rxDeveloper: GUI-Aided Software Development in ROS
In Proc. of the ICRA Workshop on Software Development and Integration in Robotics (SDIR), St. Paul, USA, May 2012.

Torsten Fiolka, Jörg Stückler, Dominik Alexander Klein, Dirk Schulz and Sven Behnke:
Place Recognition using Surface Entropy Features
In Proc. of the 2nd ICRA Workshop on Semantic Perception, Mapping, and Exploration, St. Paul, USA, May 2012.

Hannes Schulz and Sven Behnke:
Utilizing the Structure of Field Lines for Efficient Soccer Robot Localization
Advanced Robotics, 26(14):1603-1621, 2012.

Hannes Schulz and Sven Behnke:
Learning Object-Class Segmentation with Convolutional Neural Networks
In Proceedings of 11th European Symposium on Artificial Neural Networks (ESANN), Bruges, Belgium, April 2012.

Hannes Schulz, Johannes Postma, Dagmar van Dusschoten, Hanno Scharr, and Sven Behnke:
3D Reconstruction of Plant Roots from MRI Images
In Proceedings of International Conference on Computer Vision Theory and Applications (VISAPP), Rome, February 2012.

2011

Bastian Oehler, Jörg Stückler, Jochen Welle, Dirk Schulz, and Sven Behnke:
Efficient Multi-Resolution Plane Segmentation of 3D Point Clouds
In Proceedings of 4th International Conference on Intelligent Robotics and Applications (ICIRA), Aachen, December 2011.''
[source code]

Matthias Nieuwenhuisen, Dirk Schulz, and Sven Behnke:
Exploration Strategies for Building Compact Maps in Unbounded Environments
In Proceedings of 4th International Conference on Intelligent Robotics and Applications (ICIRA), Aachen, December 2011.

David Droeschel and Sven Behnke:
3D Body Pose Estimation using an Adaptive Person Model for Articulated ICP
In Proceedings of 4th International Conference on Intelligent Robotics and Applications (ICIRA), Aachen, December 2011.

Jörg Stückler and Sven Behnke:
Following Human Guidance to Cooperatively Carry a Large Object
In Proceedings of 11th IEEE-RAS International Conference on Humanoid Robots (Humanoids), Bled, Slovenia, October 2011.

Marcell Missura and Sven Behnke:
Lateral Capture Steps for Bipedal Walking
In Proceedings of 11th IEEE-RAS International Conference on Humanoid Robots (Humanoids), Bled, Slovenia, October 2011.

Kai M. Wurm, Daniel Hennes, Dirk Holz, Radu Bogdan Rusu, Cyrill Stachniss, Kurt Konolige and Wolfram Burgard:
Hierachies of Octrees for Efficient 3D Mapping
In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), San Francisco, USA, September 2011.

Andreas Müller and Sven Behnke:
Multi-Instance Methods for Partially Supervised Image Segmentation
In Proceedings of First IAPR Workshop on Partially Supervised Learning (PSL), Ulm, September 2011.
Springer LNCS 7081, pp. 110-119.

Jörg Stückler, Ricarda Steffens, Dirk Holz, and Sven Behnke:
Real-Time 3D Perception and Efficient Grasp Planning for Everyday Manipulation Tasks
In Proceedings of 5th European Conference on Mobile Robots (ECMR), Örebro, Sweden, September 2011.

Dirk Holz, Nicola Basilico, Francesco Amigoni, and Sven Behnke:
A comparative evaluation of exploration strategies and heuristics to improve them
In Proceedings of 5th European Conference on Mobile Robots (ECMR), Örebro, Sweden, September 2011.

Hannes Schulz and Sven Behnke:
Object-Class Segmentation using Deep Convolutional Neural Networks
In Proceedings of DAGM Workshop on New Challenges in Neural Computation (NC²), Frankfurt, August 2011.

David Droeschel, Stefan May, Dirk Holz, and Sven Behnke:
Fusing Time-of-Flight Cameras and Inertial Measurement Units for Ego-Motion Estimation
AUTOMATIKA – Journal for Control, Measurement, Electronics, Computing and Communications, Special Issue on ECMR'09, 52(3): 189–198, 2011.

Jörg Stückler and Sven Behnke:
Dynamaid, an Anthropomorphic Robot for Research on Domestic Service Applications.
AUTOMATIKA – Journal for Control, Measurement, Electronics, Computing and Communications, Special Issue on ECMR'09, 52(3): 233–243, 2011.

Jörg Stückler and Sven Behnke:
Compliant Task-Space Control with Back-Drivable Servo Actuators
In Proceedings of the 15th RoboCup International Symposium, Istanbul, July 2011.
Winner of Best Paper Award.
In: RoboCup 2011: Robot Soccer World Cup XV, LNCS 7416, pp. 78-89, Springer, 2012.

Dirk Holz, Stefan Holzer, Radu Bogdan Rusu, and Sven Behnke:
Real-Time Plane Segmentation using RGB-D Cameras
In Proceedings of the 15th RoboCup International Symposium, Istanbul, July 2011.
In: RoboCup 2011: Robot Soccer World Cup XV, LNCS 7416, pp. 306-317, Springer, 2012.

Andreas Schmitz, Marcell Missura, and Sven Behnke:
Real-Time Trajectory Generation by Offline Footstep Planning for a Humanoid Soccer Robot
In Proceedings of the 15th RoboCup International Symposium, Istanbul, July 2011.
In: RoboCup 2011: Robot Soccer World Cup XV, LNCS 7416, pp. 198-209, Springer, 2012.

Saskia Metzler, Matthias Nieuwenhuisen, and Sven Behnke:
Learning Visual Obstacle Detection Using Color Histogram Features
In Proceedings of the 15th RoboCup International Symposium, Istanbul, July 2011.
In: RoboCup 2011: Robot Soccer World Cup XV, LNCS 7416, pp. 149-161, Springer, 2012.

Matthias Nieuwenhuisen, Ricarda Steffens, and Sven Behnke:
Local Multiresolution Path Planning in Soccer Games Based on Projected Intentions
In Proceedings of the 15th RoboCup International Symposium, Istanbul, July 2011.
In: RoboCup 2011: Robot Soccer World Cup XV, LNCS 7416, pp. 495-506, Springer, 2012.

David Droeschel, Jörg Stückler, Dirk Holz, and Sven Behnke:
Towards Joint Attention for a Domestic Service Robot – Person Awareness and Gesture Recognition using Time-of-Flight Cameras
In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Shanghai, China, May 2011.
Finalist for KUKA Service Robotics Best Paper Award.

Marcell Missura and Sven Behnke:
Efficient Kinodynamic Trajectory Generation for Wheeled Robots
In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Shanghai, China, May 2011.

Jörg Stückler and Sven Behnke:
Interest Point Detection in Depth Images through Scale-Space Surface Analysis
In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Shanghai, China, May 2011.

David Droeschel, Jörg Stückler, and Sven Behnke:
Learning to Interpret Pointing Gestures with a Time-of-Flight Camera
In Proceedings of the 6th ACM/IEEE International Conference on Human-Robot Interaction (HRI), pp. 481-488, Lausanne, Switzerland, March 2011.

Hannes Schulz, Andreas Müller, and Sven Behnke:
Exploiting Local Structure in Boltzmann Machines
Neurocomputing 74(9):1411-1417, Elsevier, April 2011.

2010

Hannes Schulz, Andreas Müller, and Sven Behnke:
Investigating Convergence of Restricted Boltzmann Machine Learning
In Proceedings of NIPS 2010 Workshop on Deep Learning and Unsupervised Feature Learning, Whistler, Canada, December 2010.

Ricarda Steffens, Matthias Nieuwenhuisen, and Sven Behnke:
Multiresolution Path Planning in Dynamic Environments for the Standard Platform League
In Proceedings of The Fifth Workshop on Humanoid Soccer Robots at Humanoids 2010, Nashville, TN, December 2010

Kathrin Gräve, Jörg Stückler, and Sven Behnke:
Improving Imitated Grasping Motions through Interactive Expected Deviation Learning.
In Proceedings of IEEE-RAS International Conference on Humanoid Robots (Humanoids), Nashville, TN, December 2010.

Matthias Nieuwenhuisen, Judith Gaspers, Oliver Tischler, and Sven Behnke:
Intuitive Multimodal Interaction and Predictable Behavior for the Museum Tour Guide Robot Robotinho.
In Proceedings of IEEE-RAS International Conference on Humanoid Robots (Humanoids), Nashville, TN, December 2010.

Jörg Stückler and Sven Behnke:
Combining Depth and Color Cues for Scale- and Viewpoint-Invariant Object Segmentation and Recognition using Random Forests
In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Taipei, October 2010.

David Droeschel, Dirk Holz, and Sven Behnke:
Multi-frequency Phase Unwrapping for Time-of-Flight Cameras
In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Taipei, October 2010.

Dominik Scherer, Andreas Müller, and Sven Behnke:
Evaluation of Pooling Operations in Convolutional Architectures for Object Recognition
In Proceedings of 20th International Conference on Artificial Neural Networks (ICANN), Thessaloniki, Greece, September 2010.

Dominik Scherer, Hannes Schulz, and Sven Behnke:
Accelerating Large-Scale Convolutional Neural Networks with Parallel Graphics Multiprocessors 
In Proceedings of 20th International Conference on Artificial Neural Networks (ICANN), Thessaloniki, Greece, September 2010.

Dirk Holz, David Droeschel, Sven Behnke, Stefan May and Hartmut Surmann
Fast 3D Perception for Collision Avoidance and SLAM in Domestic Environments
Mobile Robots Navigation, Alejandra Barrera (Ed.), ISBN: 978-953-307-076-6, pages 53-84
IN-TECH Education and Publishing, Vienna, Austria, 2010.

Andreas Müller, Hannes Schulz, and Sven Behnke:
Topological Features in Locally Connected RBMs
International Joint Conference on Neural Networks (IJCNN 2010), July 2010.

Andreas Schmitz, Marcell Missura and Sven Behnke
Learning Footstep Prediction from Motion Capture
In Proceedings of 14th International RoboCup Symposium, Singapore, June 2010.

Marcell Missura, Tobias Wilken and Sven Behnke
Designing Effective Humanoid Soccer Goalies
In Proceedings of 14th International RoboCup Symposium, Singapore, June 2010.

Dirk Holz, Ruwen Schnabel, David Droeschel, Jörg Stückler and Sven Behnke
Towards Semantic Scene Analysis with Time-of-Flight Cameras
In Proceedings of 14th International RoboCup Symposium, Singapore, June 2010.

Hannes Schulz, Weichao Liu, Jörg Stückler and Sven Behnke:
Utilizing the Structure of Field Lines for Efficient Soccer Robot Localization
In Proceedings of 14th International RoboCup Symposium, Singapore, June 2010.

Jörg Stückler and Sven Behnke:
Improving People Awareness of Service Robots by Semantic Scene Knowledge
In Proceedings of 14th International RoboCup Symposium, Singapore, June 2010.

Kathrin Gräve, Jörg Stückler, and Sven Behnke:
Learning Motion Skills from Expert Demonstrations and Own Experience using Gaussian Process Regression
In Proceedings of Joint 41st International Symposium on Robotics (ISR 2010) and 6th German Conference on Robotics (ROBOTIK 2010), Munich, Germany, June 2010.

Dirk Holz, Nicola Basilico, Francesco Amigoni, and Sven Behnke:
Evaluating the efficiency of frontier-based exploration strategies
In Proceedings of Joint 41st International Symposium on Robotics (ISR 2010) and 6th German Conference on Robotics (ROBOTIK 2010), Munich, Germany, June 2010.

Matthias Nieuwenhuisen, Jörg Stückler, and Sven Behnke:
Intuitive Multimodal Interaction for Domestic Service Robots
In Proceedings of Joint 41st International Symposium on Robotics (ISR 2010) and 6th German Conference on Robotics (ROBOTIK 2010), Munich, Germany, June 2010.

David Droeschel, Dirk Holz, and Sven Behnke:
Probabilistic Phase Unwrapping for Time-of-Flight Cameras
In Proceedings of Joint 41st International Symposium on Robotics (ISR 2010) and 6th German Conference on Robotics (ROBOTIK 2010), Munich, Germany, June 2010.

Matthias Nieuwenhuisen, Jörg Stückler, and Sven Behnke:
Improving Indoor Navigation of Autonomous Robots by an Explicit Representation of Doors
In Proceedings of IEEE International Conference on Robotics and Automation (ICRA), Anchorage, Alaska, May 2010.

David Droeschel, Dirk Holz, Jörg Stückler, and Sven Behnke:
Using Time-of-Flight Cameras with Active Gaze Control for 3D Collision Avoidance
In Proceedings of IEEE International Conference on Robotics and Automation (ICRA), Anchorage, Alaska, May 2010.

Dirk Holz and Sven Behnke:
Sancta Simplicitas - On the efficiency and achievable results of SLAM using ICP-Based Incremental Registration
In Proceedings of IEEE International Conference on Robotics and Automation (ICRA), Anchorage, Alaska, May 2010.

Hannes Schulz, Andreas Müller, and Sven Behnke:
Exploiting local structure in stacked Boltzmann machines
In Proceedings of 11th European Symposium on Artificial Neural Networks, Computational Intelligence and Machine Learning (ESANN), Bruges, Belgium, April 2010.

Matthias Nieuwenhuisen, Jörg Stückler, and Sven Behnke:
Intuitive Multimodal Interaction for Service Robots
In Proceedings of 5th ACM/IEEE International Conference on Human-Robot Interaction (HRI), Osaka, Japan, March 2010.

2009

Dominik Scherer and Sven Behnke:
Accelerating Large-scale Convolutional Neural Networks with Parallel Graphics Multiprocessors
In Proceeding of NIPS 2009 Workshop on Large-Scale Machine Learning: Parallelism and Massive Datasets, Whistler, Canada, December 2009.

Rafael Uetz and Sven Behnke:
Locally-Connected Hierarchical Neural Networks for GPU-accelerated Object Recognition
In Proceeding of NIPS 2009 Workshop on Large-Scale Machine Learning: Parallelism and Massive Datasets, Whistler, Canada, December 2009.

Jörg Stückler and Sven Behnke:
Integrating Indoor Mobility, Object Manipulation and Intuitive Interaction for Domestic Service Tasks
In Proceedings of 9th IEEE-RAS International Conference on Humanoid Robots (Humanoids), Paris, France, December 2009.

Hannes Schulz, Weichao Liu, Jörg Stückler, Sven Behnke:
Line Structure-based Localization for Soccer Robots 
In Proceedings of The 4th Workshop on Humanoid Soccer Robots, International Conference on Humanoid Robots (Humanoids), Paris, December 2009.

Tobias Wilken, Marcell Missura, and Sven Behnke:
Designing Falling Motions for a Humanoid Soccer Goalie 
In Proceedings of The 4th Workshop on Humanoid Soccer Robots, International Conference on Humanoid Robots (Humanoids), Paris, December 2009.

Rafael Uetz and Sven Behnke:
Large-scale Object Recognition with CUDA-accelerated Hierarchical Neural Networks
In Proceedings of the 1st IEEE International Conference on Intelligent Computing and Intelligent Systems (ICIS 2009), Shanghai, China, November 2009.

Jörg Stückler, Michael Schreiber and Sven Behnke:
Dynamaid, an Anthropomorphic Robot for Research on Domestic Service Applications
In Proceedings of the 4th European Conference on Mobile Robots (ECMR), Dubrovnik, Croatia, September 2009.

Gideon Emile Maillette de Buyj Wenniger, Tijn Schmits and Arnoud Visser:
Identifiying Free Space in a Robot Bird-Eye View
In Proceedings of the 4th European Conference on Mobile Robots (ECMR), Dubrovnik, Croatia, September 2009.

David Dröschel, Stefan May, Dirk Holz, Paul Plöger and Sven Behnke:
Robust Ego-Motion Estimation with ToF Cameras
In Proceedings of the 4th European Conference on Mobile Robots (ECMR), Dubrovnik, Croatia, September 2009.

Felix Faber, Maren Bennewitz, Clemens Eppner, Attila Goeroeg, Christoph Gonsior, Dominik Joho, Michael Schreiber, and Sven Behnke:
The Humanoid Museum Tour Guide Robotinho
In Proceedings of 18th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), Toyama, Japan, September 2009.

Nils Goerke, and Sven Braun:
Building Semantic Annotated Maps by Mobile Robots
In Proceedings of TAROS 2009: Towards Autonomous Robotic Systems, pp.149-156, Univ. of Ulster, UK, September 2009.

Jörg Stückler, Kathrin Gräve, Jochen Kläß, Sebastian Muszynski, Michael Schreiber, Oliver Tischler, Ralf Waldukat, and Sven Behnke:
Dynamaid: Towards a Personal Robot that Helps with Household Chores
In Proceedings of RSS 2009 Workshop on Mobile Manipulation in Human Environments, Seattle, June 2009.

Maren Bennewitz, Cyrill Stachniss, Sven Behnke, and Wolfram Burgard:
Utilizing Reflection Properties of Surfaces to Improve Mobile Robot Localization
In Proceedings of IEEE International Conference on Robotics and Automation (ICRA), Kobe, Japan, May 2009.

2008

Sven Behnke:
Humanoid Robots - From Fiction to Reality?
KI-Zeitschrift, 4/08, pp. 5-9, December 2008.

Tobias Axenbeck, Maren Bennewitz, Sven Behnke, and Wolfram Burgard:
"Recognizing Complex, Parameterized Gestures from Monocular Image Sequences"
In Proceedings of 8th IEEE-RAS International Conference on Humanoid Robots (Humanoids), Daejeon, Korea, December 2008.

Sven Behnke and Jörg Stückler:
"Hierarchical Reactive Control for Humanoid Soccer Robots"
International Journal of Humanoid Robots (IJHR), vol. 5, no. 3, pp. 375-396, September 2008.

Felix Faber, Maren Bennewitz, and Sven Behnke:
"Controlling the Gaze Direction of a Humanoid Robot with Redundant Joints"
In Proceedings of 17th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), Munich, August 2008.

Maren Bennewitz, Tobias Axenbeck, Sven Behnke, and Wolfram Burgard:
"Robust Recognition of Complex Gestures for Natural Human-Robot Interaction"
In Proceedings of RSS 2008 Workshop on Interactive Robot Learning, Zürich, June 2008.

Jörg Stückler, Hannes Schulz, and Sven Behnke:
"In-lane Localization in Road Networks using Curbs Detected in Omnidirectional Height Images"
In Proceedings of Robotik 2008, June 2008.

Jörg Stückler and Sven Behnke:
"Orthogonal Wall Correction for Visual Motion Estimation"
In Proceedings of the IEEE International Conference on Robotics and Automation, (ICRA), May 2008.

Cyrill Stachniss, Maren Bennewitz, Wolfram Burgard, and Sven Behnke:
"How to Learn Accurate Grid Maps with a Humanoid"
In Proceedings of the IEEE International Conference on Robotics and Automation, (ICRA), May 2008.

More publications of Sven Behnke
 

More publications from NimbRo project

Former publications of Computer Science Institute VI