Grzegorz Ficht, Philipp Allgeuer, Hafez Farazi, and Sven Behnke:
NimbRo-OP2: Grown-up 3D Printed Open Humanoid Platform for Research
Accepted for IEEE-RAS International Conference on Humanoid Robots (Humanoids), Birmingham, UK, to appear November 2017.
[Video] [Release]
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]
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), Sage
Publications, available online, June 2017.
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
Accepted for RoboCup 2016: Robot World Cup XX, LNCS 9776, Springer, to
appear 2017.
Philipp Allgeuer, Grzegorz Ficht, Hafez Farazi, Michael
Schreiber, and Sven Behnke:
First International
HARTING Open Source Prize Winner: The igus Humanoid Open Platform
Accepted for RoboCup 2016: Robot World Cup XX, LNCS 9776, Springer, to
appear 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.
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 AI and Robotics, 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.
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.
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]
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]
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.
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.
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.
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.
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.
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.
Universität Bonn, Institute for Computer Science, Departments: I, II, III, IV, V, VI
