Dirk Holz, University of Bonn, Computer Science VI, Autonomous Intelligent Systems

Dirk Holz

Email:

Note for students from abroad: I do not offer summer internships!
Exception: You bring your own complete financing _and_ you have experience in our fields of interest _and_ you make this clear in your application.
Otherwise, unsolicited applications will not be answered.

Datasets

Laser-based Mapping with MAVs
The datasets used in our works on 3D laser-based mapping with micro aerial vehicles are available at http://ais.uni-bonn.de/mav_mapping.

Links (talks and proceedings of organized workshops)

Proceedings and talk materials of our 2013 workshop on Semantic Perception, Mapping and Exploration (SPME): http://spme.ws
Presentation materials of our ICRA 2013 PCL Tutorial: http://pointclouds.org/media/icra2013.html
Proceedings and talk materials of our ICRA 2012 workshop on Semantic Perception, Mapping and Exploration (SPME): http://spme.ws.
Presentation materials and code examples of our ICRA 2012 PCL Tutorial: http://pointclouds.org/media/icra2012.html.
Presentation materials and code examples of our ICCV 2011 PCL Tutorial: http://pointclouds.org/media/iccv2011.html
Presentation materials and code examples of our IROS 2011 PCL Tutorial: http://pointclouds.org/media/iros2011.html
Proceedings (and talk materials) of our ICRA 2011 Workshop on Semantic Perception, Mapping and Exploration (SPME) http://www.ais.uni-bonn.de/~holz/spme
RSS 2011 tutorial "3D Point Cloud Processing: PCL": http://www.willowgarage.com/workshops/2011/rss_pcl
Proceedings (and talk materials) of our IROS 2010 Workshop on Semantic Mapping and Autonomous Knowledge Acquisition: http://www.ais.uni-bonn.de/~holz/iros10wssm/program.php

Publications

Papers are ordered chronologically. Papers with German titles are, unsurprisingly, in German.

In press:

D. Holz and S. Behnke. Registration of Non-Uniform Density 3D Laser Scans for Mapping with Micro Aerial Vehicles. Accepted for publication in Robotics and Autononous Systems, to appear.
[Article (link)]
L. Iocchi, D. Holz, J. Ruiz-del-Solar, K. Sugiura, and T. van der Zant, RoboCup@Home: Analysis and Results of Evolving Competitions for Domestic and Service Robots. Accepted for publication in Artificial Intelligence, to appear.
[Article (link)]
D. Holz, A. E. Ichim, F. Tombari, R. B. Rusu, and S. Behnke. A modular framework for aligning 3D point clouds — Registration with the Point Cloud Library Accepted for IEEE Robotics and Automation Magazine, to appear (title subject to change).
D. Droeschel, M. Nieuwenhuisen, M. Beul, D. Holz, J. Stückler, and S. Behnke. Multi-Layered Mapping and Navigation for Autonomous Micro Aerial Vehicles. Journal of Field Robotics, Wiley, published online, 2015.
[Article (link)]

2015

D. Holz, A. Topalidou-Kyniazopoulou, J. Stueckler, and S. Behnke (October 2015). Real-Time Object Detection, Localization and Verification for Fast Robotic Depalletizing In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany.
[Bibtex] [Paper (.pdf)]
D. Holz and S. Behnke (September 2015). Approximate Surface Reconstruction and Registration for RGB-D SLAM In Proceedings of the European Conference on Mobile Robots (ECMR), Lincoln, UK.
[Bibtex] [Paper (.pdf)]
J. Razlaw, D. Droeschel, D. Holz, and S. Behnke (September 2015). Evaluation of Registration Methods for Sparse 3D Laser Scans In Proceedings of the European Conference on Mobile Robots (ECMR), Lincoln, UK.
[Bibtex] [Paper (.pdf)]
D. Holz, A. Topalidou-Kyniazopoulou, F. Rovida, M. Rath Pedersen, V. Krüger, and S. Behnke (September 2015). A Skill-Based System for Object Perception and Manipulation for Automating Kitting Tasks In Proceedings of the 20th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA), Luxemburg.
[Bibtex] [Paper (.pdf)]
S. Wachsmuth, D. Holz, M. Rudinac, J. Ruiz-del-Solar (January 2015). RoboCup@Home — Benchmarking Domestic Service Robots. In Proceedings of the Twenty-Ninth AAAI Conference on Artificial Intelligence (AAAI), Austin, Texas, USA, pages 4328-4329.
[Bibtex] [Paper (.pdf)]

2014

D. Holz and S. Behnke (2014). Approximate triangulation and region growing for efficient segmentation and smoothing of range images, Robotics and Autonomous Systems, Volume 62, Issue 9, Pages 1282-1293. http://dx.doi.org/10.1016/j.robot.2014.03.013.
[Bibtex] [Paper (.pdf)] [Article (link)]

D. Droeschel, D. Holz, and S. Behnke (2014). Omnidirectional Perception for Lightweight MAVs using a Continously Rotating 3D Laser Scanner Photogrammetrie Fernerkundung Geoinformation (PFG), Volume 5, pages 451-464.
[Bibtex] [Paper (.pdf)]

D. Holz, J. Ruiz-del-Solar, K. Sugiura, and S. Wachsmuth (July 2014). On RoboCup@Home — Past, Present and Future of a Scientific Competition for Service Robots. In RoboCup 2014: Robot World Cup XVIII, Lecture Notes in Computer Science 8992, pp. 686-697, Springer, 2014.
[Bibtex] [Paper (.pdf)]

D. Holz and S. Behnke (2014, July). Mapping with Micro Aerial Vehicles by Registration of Sparse 3D Laser Scans. Proceedings of the 13th International Conference on Intelligent Autonomous Systems (IAS), Padova, Italy,
[Bibtex] [Paper (.pdf)]

D. Holz and S. Behnke (2014, June). Registration of Non-Uniform Density 3D Point Clouds using Approximate Surface Reconstruction. Proceedings of the Joint 45th International Symposium on Robotics (ISR) and 8th German Conference on Robotics (ROBOTIK), Munich, Germany.
[Bibtex] [Paper (.pdf)]

L. Klingbeil, M. Nieuwenhuisen, J. Schneider, C. Eling, D. Droeschel, D. Holz, T. Läbe, W. Förstner, S. Behnke, and H. Kuhlmann (March, 2014). Towards Autonomous Navigation of an UAV-based Mobile Mapping System Proceedings of the 4th International Conference on Machine Control & Guidance (MCG), Braunschweig, Germany.
[Bibtex] [Paper (.pdf)]

D. Holz, M. Nieuwenhuisen, D. Droeschel, J. Stückler, A. Berner, J. Li, R. Klein and S. Behnke (2014): 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.
[Bibtex] [Paper (.pdf)]

2013

J. Stückler, D. Droeschel, K. Gräve, D. Holz, M. Schreiber, A. Topalidou-Kyniazopoulou, M. Schwarz, and Sven Behnke. Increasing Flexibility of Mobile Manipulation and Intuitive Human-Robot Interaction in RoboCup@Home In RoboCup 2013: Robot World Cup XVII, Lecture Notes in Computer Science 8371, pp. 135-146, Springer, 2013.
[Bibtex] [Paper (.pdf)]

J. Stückler, Ricarda Steffens, Dirk Holz and Sven Behnke (October, 2013). Efficient 3D object perception and grasp planning for mobile manipulation in domestic environments. In Robotics and Autonomous Systems 61(10), pp. 1106-1115.
[Bibtex] [Paper (.pdf)]

M. Nieuwenhuisen, D. Droeschel, J. Schneider, D. Holz, and S. Behnke (2013, September). Obstacle Detection and Collision Avoidance for Fully Autonomous UAVs. In Proceedings of the European Conference on Mobile Robots (ECMR), Barcelona, Spain, pages 7-12.
[Bibtex] [Paper (.pdf)]

F. Amigoni, A. Quattrini Li and D. Holz (2013, September). Evaluating the Impact of Perception and Decision Timing on Autonomous Robotic Exploration. In Proceedings of the European Conference on Mobile Robots (ECMR), Barcelona, Spain, pages 68-73.
[Bibtex] [Paper (.pdf)]

D. Holz, M. Nieuwenhuisen, D. Droeschel, M. Schreiber and S. Behnke (September, 2013). Towards Multimodal Omnidirectional Obstacle Detection for Autonomous Unmanned Aerial Vehicles. In Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XL-1/W2, pp. 201-206, 2013.
[Bibtex] [Paper (.pdf)]

A. Berner, J. Li, D. Holz, J. Stückler, S. Behnke, and R. Klein (September, 2013). Combining Contour and Shape Primitives for Object Detection and Pose Estimation of Prefabricated Parts. In Proceedings of the IEEE International Conference on Image Processing (ICIP), Melbourne, Australia, to appear September 2013.
[Bibtex] [Paper (.pdf)]

M. Nieuwenhuisen, D. Droeschel, D. Holz, and S. Behnke (June, 2013). Omnidirectional Obstacle Perception and Collision Avoidance for Micro Aerial Vehicles. In Proceedings of Robotics: Science and Systems, 2nd Workshop on Resource-Efficient Integration of Perception, Control, and Navigation for Micro Air Vehicles, Berlin, Germany.
[Bibtex] [Paper (.pdf)]

M. Nieuwenhuisen, D. Droeschel, D. Holz, J. Stückler, A. Berner, J. Li, R. Klein, and S. Behnke: (May, 2013). Mobile Bin Picking with an Anthropomorphic Service Robot. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Karlsruhe, Germany, pages 2319-2326.
[Bibtex] [Paper (.pdf)]

J. Stückler, I. Badami, D. Droeschel, K. Grauml;ve, D. Holz, M. McElhone, M. Nieuwenhuisen, M. Schreiber, M. Schwarz, and S. Behnke (2013). NimbRo@Home: Winning Team of the RoboCup@Home Competition 2012. In RoboCup 2012, Robot Soccer World Cup XVI, LNCS 7500, pp. 94-105, Springer, 2013.
[Bibtex] [Paper (.pdf)]

D. Holz, L. Iocchi and T. van der Zant (March, 2013). Benchmarking Intelligent Service Robots through Scientific Competitions: the RoboCup@Home approach. In Proceedings of the AAAI Spring Symposium Designing Intelligent Robots: Reintegrating AI II, Stanford, CA, USA.
[Bibtex] [Paper (.pdf)]

2012

J. Stückler, D. Droeschel, K. Gräve, D. Holz, J. Kläß, M. Schreiber, R. Steffens, and S. Behnke (September, 2012). 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..
[Bibtex] [Paper (.pdf)]

D. Holz and S. Behnke (2012, June). Fast Range Image Segmentation and Smoothing using Approximate Surface Reconstruction and Region Growing. In Proceedings of the 12th International Conference on Intelligent Autonomous Systems (IAS), Jeju Island, Korea.
[Bibtex] [Paper (.pdf)]

J. Stückler, D. Holz, and S. Behnke (2012, June). RoboCup@Home: Demonstrating Everyday Manipulation Skills in RoboCup@Home. IEEE Robotics & Automation Magazine (RAM), Special Issue on Mobile Manipulation. Volume 19, issue 2, pages 34-42.
[Bibtex] [Article link]

T. Breuer, G. Giorgana Macedo, R. Hartanto, N. Hochgeschwender, D. Holz, F. Hegger, Z. Jin, C. Müller, J. Paulus, M. Reckhaus, J. Álvarez Ruiz, P. Plöger, and G. Kraetzschmar: Johnny: An Autonomous Service Robot for Domestic Environments. In Journal of Intelligent and Robotic Systems, Special Issue on Domestic Service Robots. Volume 66, Numbers 1-2 (2012), pages 245-272.
[Bibtex] [Article Link]

2011

K. M. Wurm, D. Hennes, D. Holz, R. B. Rusu, C. Stachniss, K. Konolige, and W. Burgard (2011, September). Hierarchies of Octrees for Efficient 3D Mapping. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), San Francisco, CA, USA, pages 4249-4255.
[Bibtex] [Paper (.pdf)]

J. Stückler, R. Steffens, D. Holz, and S. Behnke (2011, September). Real-Time 3D Perception and Efficient Grasp Planning for Everyday Manipulation Tasks. In Proceedings of the European Conference on Mobile Robots (ECMR), Örebro, Sweden, pages 177-182.
[Bibtex] [Paper (.pdf)]

D. Holz, N. Basilico, F. Amigoni, and S. Behnke (2011, September). A comparative evaluation of exploration strategies and heuristics to improve them. In Proceedings of the European Conference on Mobile Robots (ECMR), Örebro, Sweden, pages 25-30.
[Bibtex] [Paper (.pdf)]

D. Holz, S. Holzer, R. B. Rusu, and S. Behnke (2011, July). Real-Time Plane Segmentation using RGB-D Cameras. In Proceedings of the 15th RoboCup International Symposium, Istanbul, Turkey.
[Bibtex] [Paper (.pdf)]
and
In RoboCup 2011: Robot Soccer World Cup XV, Lecture Notes in Computer Science LNCS 7416, pp. 306-317, Springer, 2012.
[Bibtex] [Book link]

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. In Proceedings of the 15th RoboCup International Symposium, Istanbul, Turkey.
[Bibtex] [Paper (.pdf)]
and
In RoboCup 2011: Robot Soccer World Cup XV, Lecture Notes in Computer Science LNCS 7416, pp. 51-62, Springer, 2012.
[Bibtex] [Book link]

D. Droeschel, J. Stückler, D. Holz, and S. Behnke (2011, May). 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, pages 1205-1210.
Finalist for KUKA Service Robotics Best Paper Award.
[Bibtex] [Paper (.pdf)]

2010

D. Droeschel, D. Holz, and S. Behnke (2010, October). Multifrequency Phase Unwrapping for Time-of-Flight Cameras. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Taipei, Taiwan, pages 1436-1469.
[Bibtex] [Paper (.pdf)]

T. Linder, V. Tretyakov, S. Blumenthal, P. Molitor, H. Surmann, D. Holz, R. Murphy, and S. Tadokoro (2010, July). Rescue Robots at the Collapse of the Municipal Archive of Cologne City: a Field Report. In Proceedings of the IEEE International Workshop on Safety, Security, and Rescue Robotics (SSRR), Bremen, Germany.
[Bibtex] [Paper (.pdf)]

D. Holz, R. Schnabel, D. Droeschel, J. Stückler, and S. Behnke (2010, June). Towards Semantic Scene Analysis with Time-of-Flight Cameras. In Proceedings of the 14th RoboCup International Symposium, Singapore.
[Bibtex] [Paper (.pdf)]

D. Holz (2010, August). Effiziente Kartographie und Navigation für mobile Service Roboter. GI Informatik-Spektrum. Volume 33, issue 4, pages 393-397.
[Bibtex] [Journal link] [Article link]

D. Holz, N. Basilico, F. Amigoni, and S. Behnke (2010, June). Evaluating the efficiency of frontier-based exploration strategies. In Proceedings of the joint conference of the 41st International Symposium on Robotics (ISR 2010) and the 6th German Conference on Robotics (ROBOTIK 2010), Munich, Germany, pages 36-43.
[Bibtex] [Paper (.pdf)]

D. Droeschel, D. Holz, and S. Behnke (2010, June). Probabilistic Phase Unwrapping for Time-of-Flight Cameras. In Proceedings of the joint conference of the 41st International Symposium on Robotics (ISR 2010) and the 6th German Conference on Robotics (ROBOTIK 2010), Munich, Germany, pages 318-324.
[Bibtex] [Paper (.pdf)]

D. Holz and S. Behnke (2010, May). Sancta Simplicitas – On the efficiency and achievable results of SLAM using ICP-Based Incremental Registration. in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Anchorage, Alaska, USA, pages 1380-1387.
[Bibtex] [Paper (.pdf)] [Additional material (.html)]

D. Droeschel, D. Holz, J. Stückler, and S. Behnke (2010, May). Using Time-of-Flight Cameras with Active Gaze Control for 3D Collision Avoidance, in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Anchorage, Alaska, USA, pages 4035-4040.
[Bibtex] [Paper (.pdf)]

D. Holz, D. Droeschel, S. Behnke, S. May and H. Surmann (2010, March). 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.
[Bibtex] [Book (.pdf at sciyo.com)] [Chapter (.pdf at sciyo.com)]

D. Holz (2010, March). Naive but Efficient – Using Greedy Strategies for Exploration, Inspection and Search. In Proceedings of the 12. Fachwissenschaftlicher Informatik-Kongress, Lecture Notes in Informatics (LNI), Series of the Gesellschaft für Informatik (GI), Bonn, Germany, pages 27-30.
Best Paper Award.
[Bibtex] [Paper (.pdf)]

2009

S. May, D. Droeschel, D. Holz, S. Fuchs, E. Malis, A. Nüchter and J. Hertzberg (2009, November/December). Three-Dimensional Mapping with Time-of-Flight Cameras. Journal of Field Robotics (JFR), Special Issue on Three-dimensional Mapping, Part 2. Volume 26, issues 11-12, pages 934-965.
[Bibtex] [Journal link] [Article link]

S. May, S. Fuchs, D. Droeschel, D. Holz and A. Nüchter (2009, October). Robust 3D-Mapping with Time-of-Flight Cameras. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), St. Louis, Missouri, USA, pages 1673-1678.
[Bibtex] [Paper (.pdf)] [Slides (.pdf)]

D. Droeschel, S. May, D. Holz, P. Ploeger and S. Behnke (2009, September). Robust Ego-Motion Estimation with ToF Cameras. In Proceedings of the European Conference on Mobile Robots (ECMR), Mlini, Croatia, pages 187-192.
[Bibtex] [Paper (.pdf)]

D. Holz, G. K. Kraetzschmar and E. Rome (2009, June/July). Robust and Computationally Efficient Navigation in Domestic Environments. In CD-Proceedings of the 13th RoboCup International Symposium, Graz, Austria and
RoboCup 2009: Robot Soccer World Cup XIII, Lecture Notes in Computer Science, J. Baltes, M. Lagoudakis, T. Naruse, and S. Shiry (Eds.). Springer (Germany), 2010, volume 5949/2010, pages 104-115.
[Bibtex] [Paper (.pdf)] [Springer Link]

D. Holz (2009, March). Effiziente 2D-Navigation für Mobile Service Roboter. In Proceedings of the 11. Fachwissenschaftlicher Informatik-Kongress, Lecture Notes in Informatics (LNI), Series of the Gesellschaft für Informatik (GI), Bonn, Germany, pages 31-34.
Best Paper Award.
[Bibtex] [Paper (.pdf)]

2008

H. Surmann, D. Holz, S. Blumenthal, T. Linder, P. Molitor and V. Tretyakov. Teleoperated Visual Inspection and Surveillance with Unmanned Ground and Aerial Vehicles. International Journal of Online Engineering (iJOE), 4(4):26-38, 2008.
[Bibtex] [Paper (.pdf)] [Journal link] [Article link]

S. Blumenthal, D. Droeschel, D. Holz, T. Linder, P. Molitor and H. Surmann (2008, November). Omnidirectional sensors for mobile robots. In Workshop-Proceedings of the International Conference on Simulation, Modeling and Programming for Autonomous Robots (SIMPAR), Venice, Italy, pages 415-425.
[Bibtex] [Paper (.pdf)] [Poster (.pdf)]

S. May, D. Droeschel, D. Holz, C. Wiesen and S. Fuchs (2008, October). 3D Pose Estimation and Mapping with Time-of-Flight Cameras. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Workshop on 3D Mapping, Nice, France.

[Bibtex] [Abstract (.pdf)] [Slides (.pdf)] [Workshop link]

D. Holz, C. Lörken and H. Surmann (2008, June/July). Continuous 3D Sensing for Navigation and SLAM in Cluttered and Dynamic Environments. In Proceedings of the International Conference on Information Fusion (FUSION), Cologne, Germany, pages 1469-1475.
[Bibtex] [Paper (.pdf)]

S. Blumenthal, D. Holz, T. Linder, P. Molitor, H. Surmann and V. Tretyakov (2008, June). Teleoperated Visual Inspection and Surveillance with Unmanned Ground and Aerial Vehicles. In CD-Proceedings of the International Conference on Remote Engineering and Virtual Instrumentation (REV).
[Bibtex] [Paper (.pdf)] [Slides (.pdf)] [Slides (.ppt)]

Video "Saliency based Visual Attention for Tracking Unmanned Aerial Vehicles": [Video 1 (DIVX/.avi)]

Video "Android goes mobile — Tele-operation using Smartphones": [Video 2 (DIVX/.avi)]

2007

D. Holz, C. Lörken (2007, March). Continuous 3D Environment Sensing for Autonomous Robot Navigation and Mapping. In Proceedings of the 9. Fachwissenschaftlicher Informatik-Kongress, Lecture Notes in Informatics (LNI), Series of the Gesellschaft für Informatik (GI), Bonn, Germany, pages 39-42.
[Bibtex] [Paper (.pdf)]

Universität Bonn, Institute for Computer Science, Departments: I, II, III, IV, V, VI