Jörg Stückler

Diplom-Informatiker (Diploma in Computer Science, equiv. M.Sc.)
Member of research staff and PhD student in the Autonomous Intelligent Systems Group

Address: 

   Jörg Stückler
   Rheinische Friedrich-Wilhelms-Universität Bonn
   Institut für Informatik VI
   Friedrich-Ebert-Allee 144
   53113 Bonn 

Tel:  +49 (0) 228 73-54160
Fax: +49 (0) 228 73-4425 
Email: stueckler _at_ ais.uni-bonn.de
Office: I.09

Content Home News Publications Projects and Awards Supervised Theses

Publications

PhD Dissertation Thesis

• Jörg-Dieter Stückler.
  Efficient Dense Registration, Segmentation, and Modeling Methods for RGB-D Environment Perception
  Dissertation, Mathematisch-Naturwissenschaftliche Fakultät, Universität Bonn, 2014.
  
  

Journals

• J. Stückler and S. Behnke.
  Efficient Dense Rigid-Body Motion Segmentation and Estimation in RGB-D Video
  In International Journal of Computer Vision (IJCV), to appear 2015.
  
  
• M. Schadler, J. Stückler, and S. Behnke.
  Rough Terrain Mapping and Navigation using a Continuously Rotating 2D Laser Scanner
  Accepted for publication in Künstliche Intelligenz, to appear 2014.
  
  
• J. Stückler, B. Waldvogel, H. Schulz, and S. Behnke.
  Dense Real-Time Mapping of Object-Class Semantics from RGB-D Video
  Accepted for publication in Journal of Real-Time Image Processing, to appear 2014.
  
  
• J. Stückler and S. Behnke.
  Multi-Resolution Surfel Maps for Efficient Dense 3D Modeling and Tracking
  In Journal of Visual Communication and Image Representation, January 2014.
  [source code]
  
  
• J. Stückler, R. Steffens, D. Holz, and S. Behnke.
  Efficient 3D Object Perception and Grasp Planning for Mobile Manipulation in Domestic Environments
  In Robotics and Autonomous Systems, Special Issue on ECMR 2011, to appear 2012.
  
  
• J. Stückler, D. Holz, and S. Behnke.
  RoboCup@Home: Demonstrating Everyday Manipulation Skills in RoboCup@Home.
  In IEEE Robotics & Automation Magazine, Special Issue on Mobile Manipulation, June 2012.
  
  
• J. Stückler and S. Behnke.
  Dynamaid, an Anthropomorphic Robot for Research on Domestic Service Applications.
  In AUTOMATIKA Journal, Special Issue on ECMR'09, 2011.
  
  
• S. Behnke and J. Stückler.
  Hierarchical Reactive Control for Humanoid Soccer Robots.
  International Journal of Humanoid Robots (IJHR), vol. 5, no. 3, pp. 375-396, September 2008.
  
  
• A. Kleiner, M. Brenner, T. Bräuer, C. Dornhege, M. Göbelbecker, M. Luber, J. Prediger, J. Stückler, and B. Nebel.
  Successful Search and Rescue in Simulated Disaster Areas.
  Lecture Notes in Computer Science (LNCS), vol. 4020/2006, 2005.
  
  

Book Contributions

• J. Stückler and S. Behnke.
  Perception of Deformable Objects and Compliant Manipulation for Service Robots
  Accepted for Soft Robotics: From Theory to Applications, A. Verl, A. Albu-Schäffer, O. Brock, A. Raatz (Eds.), Springer Vieweg, to appear 2015.
  
  
• J. Stückler, D. Droeschel, K. Gräve, D. Holz, M. Schreiber, A. Topaldou-Kyniazopoulou, M. Schwarz and S. Behnke.
  Increasing Flexibility of Mobile Manipulation and Intuitive Human-Robot Interaction in RoboCup@Home
  Accepted for RoboCup 2013, Robot Soccer World Cup XVII, Springer, LNCS, to appear 2014.
  
  
• D. Holz, M. Nieuwenhuisen, D. Droeschel, J. Stückler, A. Berner, J. Li, R. Klein, and S. Behnke.
  Active Recognition and Manipulation for Mobile Robot Bin Picking
  Accepted for Springer Tracts in Advanced Robotics (STAR), to appear 2013.
  
  
• J. Stückler, I. Badami, D. Droeschel, K. Gräve, D. Holz, M. McElhone, M. Nieuwenhuisen, M. Schreiber, M. Schwarz, and S. Behnke.
  NimbRo@Home: Winning Team of the RoboCup@Home Competition 2012
  Accepted for RoboCup 2012, Robot Soccer World Cup XVI, Springer, LNCS, to appear 2013.
  
  
• J. Stückler, D. Droeschel, K. Gräve, D. Holz, J. Kläß, M. Schreiber, R. Steffens, and S. Behnke.
  Towards Robust Mobility, Flexible Object Manipulation, and Intuitive Multimodal Interaction for Domestic Service Robots.
  RoboCup 2011, Lecture Notes in Computer Science (LNCS), vol. 7416, 2012.
  
  
• S. Behnke, J. Stückler, H. Strasdat, and M. Schreiber.
  Hierarchical Reactive Control for Soccer Playing Humanoid Robots.
  In M. Hackel (editor): Humanoid Robots, Human-like Machines. pp. 625-642, I-Tech, 2007.
  
  

Conferences

2014

• J. Stückler and S. Behnke.
  Adaptive Tool-Use Strategies for Anthropomorphic Service Robots
  In Proc. of the 14th IEEE-RAS International Conference on Humanoid Robots (Humanoids), Madrid, Spain, November 2014.
  
  
• D. Droeschel, J. Stückler, and S. Behnke.
  Local Multi-Resolution Surfel Grids for MAV Motion Estimation and 3D Mapping
  In Proc. of the 13th International Conference on Intelligent Autonomous Systems (IAS), Padova, Italy, July 2014.
  
  
• J. Stückler, A. Gutt, and S. Behnke.
  Combining the Strengths of Sparse Interest Point and Dense Image Registration for RGB-D Odometry
  In Proc. of the Joint 45th International Symposium on Robotics (ISR) and 8th German Conference on Robotics (ROBOTIK), Munich, June 2014.
  
  
• J. Stückler and S. Behnke.
  Efficient Deformable Registration of Multi-Resolution Surfel Maps for Object Manipulation Skill Transfer
  In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), Hongkong, China, May 2014.
  
  
• D. Droeschel, J. Stückler, and S. Behnke.
  Local Multi-Resolution Representation for 6D Motion Estimation and Mapping with a Continuously Rotating 3D Laser Scanner
  In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), Hongkong, China, May 2014.
  
  
• M. Schwarz, J. Stückler, and S. Behnke.
  Mobile Teleoperation Interfaces with Adjustable Autonomy for Personal Service Robots
  Late-Breaking Report. In Proc. of the 9th ACM/IEEE International Conference on Human-Robot Interaction (HRI), Bielefeld, Germany, March 2014.
  
  

2013

• M. Schadler, J. Stückler, and S. Behnke.
  Multi-Resolution Surfel Mapping and Real-Time Pose Tracking using a Continuously Rotating 2D Laser Scanner
  In Proc. of the IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR), October 2013.
  
  
• J. Stückler and S. Behnke.
  Efficient Dense 3D Rigid-Body Motion Segmentation in RGB-D Video (oral presentation, 7% acceptance)
  In Proc. of the British Machine Vision Conference (BMVC), Bristol UK, September 2013.
  
  
• M. McElhone, J. Stückler, and S. Behnke.
  Joint Detection and Pose Tracking of Multi-Resolution Surfel Models in RGB-D
  In Proc. of the 6th European Conference on Mobile Robots (ECMR), Barcelona, Spain, to appear September 2013.
  
  
• T. Fiolka, J. Stückler, D. Klein, D. Schulz, and S. Behnke.
  Distinctive 3D Surface Entropy Features for Place Recognition
  In Proc. of the 6th European Conference on Mobile Robots (ECMR), Barcelona, Spain, to appear September 2013.
  
  
• A. Berner, J. Li, D. Holz, J. Stückler, S. Behnke, and R. Klein.
  Combining Contour and Shape Primitives for Object Detection and Pose Estimation of Prefabricated Parts
  In Proc. of the IEEE International Conference on Image Processing (ICIP), Melbourne, Australia, September 2013.
  
  
• J. Stückler and S. Behnke.
  Hierarchical Object Discovery and Dense Modelling From Motion Cues in RGB-D Video (oral presentation, 23% acceptance)
  In Proc. of the 23rd International Joint Conference on Artificial Intelligence (IJCAI), Beijing, China, August 2013.
  
  
• M. Nieuwenhuisen, D. Droeschel, D. Holz, J. Stückler, A. Berner, J. Li, R. Klein, and S. Behnke.
  Mobile Bin Picking with an Anthropomorphic Service Robot
  In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), Karlsruhe, May 2013.
  
  

2012

• U. Hubert, J. Stückler, and S. Behnke.
  Bayesian Calibration of the Hand-Eye Kinematics of an Anthropomorphic Robot
  In Proc. of the IEEE-RAS International Conference on Humanoid Robots (Humanoids), Osaka, Japan, to appear December 2012.
  
  
• J. Stückler, N. Biresev, and S. Behnke.
  Semantic Mapping Using Object-Class Segmentation of RGB-D Images
  In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vilamoura, Portugal, October 2012.
  
  
• J. Stückler and S. Behnke.
  Integrating Depth and Color Cues for Dense Multi-Resolution Scene Mapping Using RGB-D Cameras
  In Proc. of the IEEE International Conference on Multisensor Fusion and Information Integration (MFI 2012), Hamburg, Germany, September 2012.
  [source code]
  
  
• S. Muszynski, J. Stückler, and S. Behnke.
  Adjustable Autonomy for Mobile Teleoperation of Personal Service Robots
  In Proc. of the IEEE International Symposium on Robot and Human Interactive Communication (Ro-Man), Paris, France, September 2012.
  
  
• T. Fiolka, J. Stückler, D. A. Klein, D. Schulz, and S. Behnke.
  SURE: Surface Entropy for Distinctive 3D Features
  In Proc. of Spatial Cognition 2012, Germany, September 2012.
  [source code]
  
  
• G. M. Garcia, D. A. Klein, J. Stückler, S. Frintrop, and A. B. Cremers.
  Adaptive Multi-cue 3D Tracking of Arbitrary Objects
  In Proc. of DAGM-OAGM 2012, Graz, Austria, August 2012.
  
  
• J. Stückler and S. 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]
  
  
• M. Nieuwenhuisen, J. Stückler, S. Behnke, A. Berner, and R. Klein.
  Shape-Primitive Based Object Recognition and Grasping
  In Proc. of the German Conference on Robotics (ROBOTIK), Munich, Germany, May 2012.
  
  
• J. Kläß, J. Stückler and S. Behnke.
  Efficient Mobile Robot Navigation using 3D Surfel Grid Maps
  In Proc. of the German Conference on Robotics (ROBOTIK), Munich, Germany, May 2012.
  
  
• J. Stückler and S. 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]
  
  

2011

• B. Oehler, J. Stückler, J. Welle, D. Schulz, and S. Behnke.
  Efficient Multi-Resolution Plane Segmentation of 3D Point Clouds
  In Proc. of the International Conference on Intelligent Robotics and Applications (ICIRA), Aachen, Germany, December 2011.
  [source code]
  
  
• J. Stückler and S. Behnke.
  Following Human Guidance to Cooperatively Carry a Large Object
  In Proc. of the 11th IEEE-RAS International Conference on Humanoid Robots (Humanoids), Bled, Slovenia, October 2011.
  
  
• J. Stückler, R. Steffens, D. Holz, and S. Behnke.
  Real-Time 3D Perception and Efficient Grasp Planning for Everyday Manipulation Tasks
  In Proc. of the 5th European Conference on Mobile Robots (ECMR), Örebro, Sweden, September 2011.
  
  
• J. Stückler and S. Behnke.
  Compliant Task-Space Control with Back-Drivable Servo Actuators
  In Proc. of the International RoboCup Symposium 2011, Istanbul, Turkey, July 2011.
  Winner of Best Paper Award.
  
  
• D. Droeschel, J. Stückler, D. Holz, and S. Behnke.
  Towards Joint Attention for a Domestic Service Robot -- Person Awareness and Gesture Recognition using Time-of-Flight Cameras
  In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), Shanghai, China, May 2011.
  Finalist of KUKA Service Robotics Best Paper Award.
  
  
• J. Stückler and S. Behnke.
  Interest Point Detection in Depth Images through Scale-Space Surface Analysis
  In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), Shanghai, China, May 2011.
  
  
• D. Droeschel, J. Stückler, and S. Behnke.
  Learning to Interpret Pointing Gestures with a Time-Of-Flight Camera
  In Proc. of the 6th ACM/IEEE International Conference on Human-Robot Interaction (HRI), Lausanne, Switzerland, March 2011.
  
  

2010

• K. Gräve, J. Stückler, and S. Behnke.
  Improving Imitated Grasping Motions through Interactive Expected Deviation Learning
  In Proc. of the IEEE International Conference on Humanoid Robots (Humanoids), Nashville, USA, December 2010.
  
  
• J. Stückler and S. Behnke.
  Combining Depth and Color Cues for Scale- and Viewpoint-Invariant Object Segmentation and Recognition using Random Forests.
  In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Taipei, October 2010.
  
  
• J. Stückler and S. Behnke.
  Improving People Awareness of Service Robots by Semantic Scene Knowledge
  In Proc. of the Int. RoboCup Symposium, Singapore, June 2010.
  
  
• D. Holz, R. Schnabel, D. Droeschel, J. Stückler, and S. Behnke.
  Towards Semantic Scene Analysis with 3D Time-of-Flight Cameras
  In Proc. of the Int. RoboCup Symposium, Singapore, June 2010.
  
  
• H. Schulz, W. Liu, J. Stückler, and S. Behnke.
  Utilizing the Structure of Field Lines for Efficient Soccer Robot Localization
  In Proc. of the Int. RoboCup Symposium, Singapore, June 2010.
  
  
• K. Gräve, J. Stückler, and S. Behnke.
  Learning Motion Skills from Expert Demonstrations and Own Experience using Gaussian Process Regression
  In Proc. of ISR/ROBOTIK 2010, Munich, Germany, June 2010.
  
  
• M. Nieuwenhuisen, J. Stückler, and S. Behnke.
  Intuitive Multimodal Interaction for Domestic Service Robots.
  In Proc. of ISR/ROBOTIK 2010, Munich, Germany, June 2010.
  
  
• M. Nieuwenhuisen, J. Stückler, and S. Behnke.
  Improving Indoor Navigation of Autonomous Robots by an Explicit Representation of Doors.
  In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), Anchorage, Alaska, May 2010.
  
  
• D. Droeschel, D. Holz, J. Stückler, and S. Behnke.
  Using Time-of-Flight Cameras with Active Gaze Control for 3D Collision Avoidance.
  In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), Anchorage, Alaska, May 2010.
  
  

2009

• J. Stückler and S. Behnke.
  Integrating Indoor Mobility, Object Manipulation, and Intuitive Interaction for Domestic Service Tasks.
  In Proc. of the IEEE Conference on Humanoid Robots (Humanoids), Paris, France, December 2009.
  
  
• J. Stückler, M. Schreiber, and S. Behnke.
  Dynamaid, an Anthropomorphic Robot for Research on Domestic Service Applications.
  In Proc. of the 4th European Conference on Mobile Robots (ECMR), Dubrovnik, Croatia, September 2009.
  
  

2006-2008

• J. Stückler, H. Schulz, and S. Behnke.
  In-lane Localization in Road Networks using Curbs Detected in Omnidirectional Height Images.
  In Proc. of the German Conference on Robotics (ROBOTIK), München, Germany, June 2008.
  
  
• J. Stückler and S. Behnke.
  Orthogonal Wall Correction for Visual Motion Estimation.
  In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), Los Angeles, USA, May 2008.
  
  
• S. Behnke, J. Stückler, M. Schreiber, H. Schulz, M. Boehnert, and K. Meier.
  Hierarchical Reactive Control for a Team of Humanoid Soccer Robots.
  In Proc. of the IEEE International Conference on Humanoid Robots (Humanoids), Pittsburgh, USA, December 2007.
  
  
• S. Behnke, M. Schreiber, J. Stückler, R. Renner, and H. Strasdat.
  See, walk, and kick: Humanoid robots start to play soccer.
  In Proc. of the IEEE-RAS International Conference on Humanoid Robots (Humanoids), Genua, Italy, December 2006.
  
  

Workshops and Symposia

• I. Badami, J. Stückler, and S. Behnke.
  Depth-Enhanced Hough Forests for Object-Class Detection and Continuous Pose Estimation
  Accepted for the 3rd Workshop on Semantic Perception, Mapping, and Exploration (SPME), collocated with ICRA 2013, Karlsruhe, to appear May 2013.
  
  
• J. Stückler and S. 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.
  
  
• T. Fiolka, J. Stückler, D. A. Klein, D. Schulz and S. 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.
  
  
• M. Nieuwenhuisen, J. Stückler, and S. Behnke.
  Intuitive Multimodal Interaction for Service Robots.
  Late-Breaking Report. In Proc. of the 5th ACM/IEEE International Conference on Human Robot Interaction (HRI2010), Osaka, Japan, March 2010.
  
  
• H. Schulz, W. Liu, J. Stückler, and S. Behnke.
  Line Structure-based Localization for Soccer Robots.
  In Proc. of 4th Workshop on Humanoid Soccer Robots at IEEE Humanoids, Paris, France, December 2009.
  
  
• J. Stückler, K. Gräve, J. Kläss, S. Muszynski, M. Schreiber, O. Tischler, R. Waldukat, and S. Behnke.
  Dynamaid: Towards a Personal Robot that Helps with Household Chores.
  RSS Workshop on Mobile Manipulation in Human Environments, Seattle, Australia, June 2009.
  
  
• J. Stückler and S. Behnke.
  Soccer Behaviors for Humanoid Robots.
  Workshop on Humanoid Soccer Robots of the IEEE-RAS International Conference on Humanoid Robots (Humanoids 2006), Genoa, Italy, pp. 62-70, December 2006.
  
  
• J. Stückler and S. Behnke.
  Learning Dynamic Biped Walking Control.
  French-German Workshop on Humanoid and Legged Robots, Karlsruhe, Germany, September 2006.
  
  
• J. Stückler and S. Behnke.
  On-line Optimization of Dynamic Walking Using Stochastic Policy Gradient Ascent.
  Proc. of Dynamic Walking 2006, p. 29, Ann Arbor, USA, May 2006.
  
  

Team description papers

• J. Stückler, D. Droeschel, K. Gräve, D. Holz, M. Schreiber, and S. Behnke.
  NimbRo @Home TDP.
  RoboCup@Home League, Netherlands, Eindhoven, 2013.
  
  
• J. Stückler, D. Droeschel, K. Gräve, D. Holz, M. Schreiber, and S. Behnke.
  NimbRo @Home TDP.
  RoboCup@Home League, Mexico City, 2012.
  
  
• J. Stückler, D. Droeschel, K. Gräve, D. Holz, M. Schreiber, and S. Behnke.
  NimbRo @Home TDP.
  RoboCup@Home League, Turkey, Istanbul, 2011.
  
  
• J. Stückler, D. Droeschel, K. Gräve, D. Holz, M. Schreiber, and S. Behnke.
  NimbRo @Home TDP.
  RoboCup@Home League, Singapore 2010.
  
  
• S. Behnke, J. Stückler, and M. Schreiber.
  NimbRo @Home TDP.
  RoboCup@Home League, Austria, Graz 2009.
  
  
• S. Behnke, J. Stückler, and M. Schreiber.
  NimbRo KidSize TDP.
  RoboCup Humanoid League, Austria, Graz, 2009.
  
  
• S. Behnke, J. Stückler, and M. Schreiber.
  NimbRo TeenSize TDP.
  RoboCup Humanoid League, Austria, Graz, 2009.
  
  
• S. Behnke, M. Schreiber, J. Stückler, H. Schulz, M. Böhnert, and K. Meier.
  NimbRo KidSize TDP.
  RoboCup Humanoid League, China, Suzhou, 2008.
  
  
• S. Behnke, M. Schreiber, J. Stückler, H. Schulz, M. Böhnert, and K. Meier.
  NimbRo TeenSize TDP.
  RoboCup Humanoid League, China, Suzhou, 2008.
  
  
• S. Behnke, M. Schreiber, J. Stückler, H. Strasdat, and K. Meier.
  NimbRo KidSize TDP.
  RoboCup Humanoid League, USA, Atlanta, 2007.
  
  
• S. Behnke, M. Schreiber, J. Stückler, H. Strasdat, and K. Meier.
  NimbRo TeenSize TDP.
  RoboCup Humanoid League, USA, Atlanta, 2007.
  
  
• S. Behnke, M. Schreiber, J. Stückler, H. Strasdat, and M. Bennewitz.
  NimbRo KidSize TDP.
  RoboCup Humanoid League, Germany, Bremen, 2006.
  
  
• S. Behnke, M. Schreiber, J. Stückler, H. Strasdat, and M. Bennewitz.
  NimbRo TeenSize TDP.
  RoboCup Humanoid League, Germany, Bremen, 2006.
  
  
• A. Kleiner, B. Steder, C. Dornhege, D. Höfler, D. Meyer-Delius, J. Prediger, J. Stückler, K. Glogowski, M. Thurner, M. Luber, M. Schnell, R. Kümmerle, T. Burk, T. Bräuer, and B. Nebel.
  RescueRobots Freiburg TDP.
  RoboCup Rescue Robot League, Japan, Osaka, 2005.
  
  
• A. Kleiner, M. Brenner, T. Bräuer, C. Dornhege, M. Göbelbecker, M. Luber, J. Prediger, and J. Stückler.
  ResQ Freiburg TDP.
  RoboCup Rescue Simulation League, Portugal, Lissabon, 2004.