Universität Bonn: Autonomous Intelligent Systems Group  Autonomous Intelligent Systems: NimbRo @Home

Publications


2016 

Jörg Stückler, Max Schwarz, and Sven Behnke:
Mobile Manipulation, Tool Use, and Intuitive Interaction for Cognitive Service Robot Cosero
Frontiers in AI and Robotics, section Humanoid Robotics, vol. 3, November 2016.

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), Stockholm, Sweden, May 2016.
[Video] [Source code]

2015

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.

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.

Max Schwarz and Sven Behnke:
NimbRo@Home Team Description for the RoboCup 2015 Competition
In RoboCup 2015 @Home League Team Descriptions, Hefei, China, July 2015.

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) 113:233-245, 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.), pp. 69-80, Springer Vieweg, 2015.

2014

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. 

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.

Jörg Stückler and Sven Behnke:
Video description: Demonstrating Adaptive Tool-Use with an Anthropomorphic Service Robot [Video]
In Proceedings of 14th IEEE-RAS International Conference on Humanoid Robots (Humanoids), Madrid, Spain, November 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.

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.

Max Schwarz, Jörg Stückler, David Droeschel, Kathrin Gräve, Dirk Holz, Michael Schreiber, and Sven Behnke:
NimbRo@Home 2014 Team Description
In RoboCup 2014 @Home League Team Descriptions, João Pessoa, Brasil, 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.

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.

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), Bielefeld, Germany, 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, January 2014.
[source code]

2013

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. 

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.

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.

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.

2012

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.

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), Vilamoure, 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), Vilamoure, Portugal, October 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.

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.

Jörg Stückler and Sven Behnke:
Model Learning and Real-Time Tracking using Multi-Resolution Surfel Maps
In Proc. of the 26th AAAI Conference on Artificial Intelligence (AAAI-12), Toronto, Canada, July 2012.

Jörg Stückler, David Dröschel, Kathrin Gräve, Dirk Holz, Michael Schreiber, and Sven Behnke:
NimbRo @Home 2012 Team Description
In RoboCup 2012 @Home League team descriptions, Mexico City, 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.

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.

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, to appear 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, to appear May 2012.

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 [Poster]
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 [Slides]
In Proc. of the ICRA Workshop on Software Development and Integration in Robotics (SDIR), St. Paul, USA, May 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.

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.

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.

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.

Jörg Stückler, David Dröschel, Kathrin Gräve, Dirk Holz, Michael Schreiber, and Sven Behnke:
NimbRo @Home 2011 Team Description
In RoboCup 2011 @Home League team descriptions, Istanbul, July 2011.

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 IEEE International Conference on Robotics and Automation (ICRA), Shanghai, May 2011.

Jörg Stückler and Sven Behnke
Interest Point Detection in Depth Images through Scale-Space Surface Analysis
In Proceedings of IEEE International Conference on Robotics and Automation (ICRA), Shanghai, May 2011.

David Droeschel, Jörg Stückler, and Sven Behnke
Learning to Interpret Pointing Gestures with a Time-of-Flight Camera
In Proceedings of  6th ACM/IEEE International Conference on Human-Robot Interaction (HRI), Lausanne, Switzerland, March 2011.

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.

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
Multifrequency Phase Unwrapping for Time-of-Flight Cameras
In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Taipei, October 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.

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.

Jörg Stückler, David Dröschel, Kathrin Gräve, Dirk Holz, Michael Schreiber, and Sven Behnke:
NimbRo @Home 2010 Team Description
In RoboCup 2010 @Home League team descriptions, 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.

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.

2009

Jörg Stückler and Sven Behnke:
Integrating Indoor Mobility, Object Manipulation and Intuitive Interaction for Domestic Service Tasks
In Proceedings of the IEEE Conference on Humanoid Robots (Humanoids), Paris, France, December 2009.

Rafael Uetz and Sven Behnke:
Large-scale Object Recognition with CUDA-accelerated Hierarchical Neural Networks
In Proceedings of 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.

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 Proceeding 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.

Sven Behnke, Jörg Stückler, and Michael Schreiber
NimbRo @Home 2009 Team Description
In RoboCup 2009 @Home League Team Descriptions, Graz

Maren Bennewitz, Cyrill Stachniss, Sven Behnke, and Wolfram Burgard:
Utilizing Reflection Properties of Surfaces to Improve Mobile Robot Localization
In Proceedings of 2009 IEEE International Conference on Robotics and Automation (ICRA), Kobe, Japan, 05/2009.

2008

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.

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:
"n-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.