Universität Bonn: Autonomous Intelligent Systems Group   Computer Science Institute VI: Autonomous Intelligent Systems

Publications
 

2012

Tobias K. Kohoutek, David Droeschel, Rainer Mautz, and Sven Behnke:
Indoor Positioning and Navigation using Time-of-Flight Cameras
Accepted for Fabio Remondino and David Stoppa (Eds.): TOF Range Imaging Cameras, Springer, to appear April 2012.

Hannes Schulz and Sven Behnke:
Learning Object-Class Segmentation with Convolutional Neural Networks
Accepted for 11th European Symposium on Artificial Neural Networks (ESANN), Bruges, Belgium, to appear April 2012.

Hannes Schulz, Johannes Postma, Dagmar van Dusschoten, Hanno Scharr, and Sven Behnke:
3D Reconstruction of Plant Roots from MRI Images
Accepted as full paper for International Conference on Computer Vision Theory and Applications (VISAPP), Rome, to appear February 2012.

2011

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.

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.

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.

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.

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.

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.

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.

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.

2010

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:
Multifrequency 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 (2010)
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

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.

2009

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.

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.

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.

More publications from NimbRo project

Former publications of Computer Science Institute VI

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