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
Accepted for International Journal of Humanoid Robotics (IJHR), to
appear 2020.
Diego Rodriguez, Florian Huber, and Sven Behnke:
Category-Level
3D Non-Rigid Registration from Single-View RGB Images
Accepted for IEEE/RSJ International Conference on Intelligent Robots
and Systems (IROS), Las Vegas, USA, October 2020.
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
Accepted for 12th International Conference on Language Resources and
Evaluation, 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
Accepted for 28th European Symposium on Artificial Neural Networks,
Computational Intelligence and Machine Learning (ESANN), Bruges,
Belgium, April 2020.
Moritz Wolter, Angela Yao, and Sven Behnke:
Object-centered Fourier
Motion Estimation and
Segment-Transformation Prediction
Accepted for 28th European Symposium on Artificial Neural Networks,
Computational Intelligence and Machine Learning (ESANN), Bruges,
Belgium, April 2020.
Yi Zhao, Nils Wandel, Magdalena Landl, Andrea Schnepf, and
Sven Behnke:
3D U-Net for
Segmentation of Plant Root MRI
Images in Super-Resolution
Accepted for 28th European Symposium on Artificial Neural Networks,
Computational Intelligence and Machine Learning (ESANN), Bruges,
Belgium, April 2020.
Marcell Missura, Maren Bennewitz, and Sven Behnke:
Capture Steps:
Robust Walking for Humanoid Robots
Accepted for International Journal of Humanoid Robotics (IJHR), World
Scientific, to appear 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.
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.
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.
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.
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.
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]
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]
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.
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