Within the DFG Research Unit FOR 1505 "Mapping on
Demand", two projects are carried out in the Autonomous
Intelligent Systems Group:
Partners in this research unit are Prof. Wolfgang Förstner (speaker), Prof. Heiner Kuhlmann, Prof. Reinhard Klein, Prof. Daniel Cremers, and Prof. Lutz Plümer.
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]
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), Elsevier, available
online
2018.
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),
2018.
[Video]
David Droeschel and Sven Behnke:
Efficient
Continuous-time
SLAM for 3D Lidar-based Online Mapping
Accepted for IEEE International Conference on Robotics and Automation
(ICRA), Brisbane, Australia, May 2018.
[Video]
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]
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]
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]
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.
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.
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]
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]
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.
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.
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, Springer, available
online, 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.
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.
Nicola Krombach, David Droeschel and Sven Behnke:
Evaluation
of Stereo Algorithms for Obstacle Detection with Fisheye Lenses
In Procedings of 3rd International Conference on Unmanned Aerial
Vehicles in Geomatics (UAV-g), Toronto, Canada, August
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.
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.
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.
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.
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.
David Droeschel, Jörg Stückler, and Sven Behnke:
Local
Multiresolution
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.
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.
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.
Dirk Holz, Matthias Nieuwenhuisen, David Droeschel, Michael Schreiber
and Sven Behnke:
Towards Multimodal
Omnidirectional Obstacle Detection for Autonomous Unmanned Aerial
Vehicles
In Proceedings of International Conference on Unmanned Aerial Vehicles
in Geomatics (UAV-g), Rostock, Germany, September 2013.
Matthias Nieuwenhuisen, Mark Schadler, and Sven Behnke:
Predictive Potential
Field-based Collision Avoidance for Multicopters
In Proceedings of International Conference on Unmanned Aerial
Vehicles in Geomatics (UAV-g), Rostock, Germany, September 2013.
David Droeschel, Michael Schreiber, and Sven Behnke:
Omnidirectional Perception for
Lightweight UAVs Using a Continuous Rotating Laser Scanner
In Proceedings of International Conference on Unmanned Aerial
Vehicles in Geomatics (UAV-g), Rostock, Germany, September 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.
InventAIRy - Identification with Autonomous Micro Aerial Vehicles
University of Bonn, Institute for Computer Science, Computer Science VI - Intelligent Systems and Robotics Impress Data Privacy Statement ; Robotics
