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

Publications
 

2016

Max Schwarz, Marius Beul, David Droeschel, Sebastian Schüller, Arul Selvam Periyasamy, Christian Lenz, Michael Schreiber, and Sven Behnke:
Supervised Autonomy for Exploration and Mobile Manipulation in Rough Terrain with a Centaur-like Robot
Accepted for Frontiers in Robotics and AI, section Humanoid Robotics, to appear 2016.

Nicola Krombach, David Droeschel, and Sven Behnke:
Combining Feature-based and Direct Methods for Semi-dense Real-time Stereo Visual Odometry
Accepted for 14th International Conference on Intelligent Autonomous Systems (IAS), Shanghai, China, to appear July 2016.

Max Schwarz, Sebastian Schüller, Christian Lenz, David Droeschel, and Sven Behnke:
Supervised Autonomy for Exploration and Mobile Manipulation in Rough Terrain
Accepted for 14th International Conference on Intelligent Autonomous Systems (IAS), Shanghai, China, to appear July 2016.

Hafez Farazi and Sven Behnke:
Real-Time Visual Multi-Robot Tracking and Identification for a Team of Homogeneous Humanoid Robots
Accepted for 20th RoboCup International Symposium, Leipzig, Germany, to appear July 2015.

David Droeschel and Sven Behnke:
MRSLaserMap: Local Multiresolution Grids for Efficient 3D Laser Mapping and Localization
Accepted for 20th RoboCup International Symposium, Leipzig, Germany, to appear July 2015.
[Source code]

Dirk Holz and Sven Behnke:
Fast Edge-Based Detection and Localization of Transport Boxes and Pallets in RGB-D Images for Mobile Robot Bin Picking
Accepted for 47th International Symposium on Robotics (ISR), Munich, Germany, to appear June 2016.

Marius Beul and Sven Behnke:
Analytical Time-optimal Trajectory Generation and Control for Multirotors
Accepted for International Conference on Unmanned Aircraft Systems (ICUAS), Arlington, VA, USA, to appear June 2016.
[Video]

Farzad Husain, Hannes Schulz, Babette Dellen, Carme Torras, and Sven Behnke:
Combining Semantic and Geometric Features for Object Class Segmentation of Indoor Scenes
IEEE Robotics and Automation Letters (RA-L) 2(1):49-55, 2016.
Presented at IEEE International Conference on Robotics and Automation (ICRA), Stockholm, Sweden, May 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]

Max Schwarz, Tobias Rodehutskors, Michael Schreiber, and Sven Behnke:
Hybrid Driving-Stepping Locomotion with the Wheeled-legged Robot Momaro
In Proceedings of IEEE International Conference on Robotics and Automation (ICRA), Stockholm, Sweden, May 2016.
[Video]

Jörg Wagner, Volker Fischer, Michael Herman, and Sven Behnke:
Multispectral Pedestrian Detection using Deep Fusion Convolutional Neural Networks
In Proceedings of 24th European Symposium on Artificial Neural Networks, Computational Intelligence and Machine Learning (ESANN), Bruges, Belgium, April 2016.

Marcell Missura:
Analytic and Learned Footstep Control for Robust Bipedal Walking
Dissertation, Mathematisch-Naturwissenschaftliche Fakultät, Universität Bonn, 2016.

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.

Kathrin Gräve:
Lernen komplexer Aufgaben aus Demonstration und eigener Erfahrung
Dissertation, Mathematisch-Naturwissenschaftliche Fakultät, Universität Bonn, 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.

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.

Tobias Rodehutskors, Max Schwarz, and Sven Behnke:
Intuitive Bimanual Telemanipulation under Communication Restrictions by Immersive 3D Visualization and Motion Tracking

In Proceedings of IEEE-RAS International Conference on Humanoid Robots (Humanoids), Seoul, Korea, November 2015.

Philipp Allgeuer, Hafez Farazi, Michael Schreiber, and Sven Behnke:
Child-sized 3D Printed igus Humanoid Open Platform
In Proceedings of IEEE-RAS International Conference on Humanoid Robots (Humanoids), Seoul, Korea, November 2015.
[Video]

Hafez Farazi, Philipp Allgeuer, and Sven Behnke:
A Monocular Vision System for Playing Soccer in Low Color Information Environments
In Proceedings of 10th Workshop on Humanoid Soccer Robots, IEEE-RAS International Conference on Humanoid Robots (Humanoids), Seoul, Korea, November 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, to appear 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.

Reinhard Gerndt, Daniel Seifert, Jacky Baltes, Soroush Sadeghnejad, and Sven Behnke:
Humanoid Robots in Soccer – Robots Versus Humans in RoboCup 2050
IEEE Robotics and Automation Magazine 22(3):147-154, September 2015.

Dirk Holz, Angeliki Topalidou-Kyniazopoulou, Joerg Stueckler, and Sven Behnke:
Real-Time Object Detection, Localization and Verification for Fast Robotic Depalletizing
In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany, September 2015.
[Video]

Marcell Missura and Sven Behnke:
Gradient-Driven Online Learning of Bipedal Push Recovery
In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany, September 2015.
[Video]

Philipp Allgeuer and Sven Behnke:
Fused Angles: A Representation of Body Orientation for Balance
In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany, September 2015.

Shile Li, Seongyong Koo, and Dongheui Lee:
Real-time and Model-free Object Tracking using Particle Filter with Joint Color-Spatial Descriptor
In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany, September 2015.

Marcell Missura and Sven Behnke:
Online Learning of Bipedal Walking Stabilization
German Journal on Artificial Intelligence (KI), 2015.

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, Wiley, published online, 2015.

Dirk Holz, Angeliki Topalidou-Kyniazopoulou, Francesco Rovida,Mikkel Rath Pedersen, Volker Krüger, and Sven Behnke:
A Skill-Based System for Object Perception and Manipulation for Automating Kitting Tasks
In Proceedings of 20th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA), Luxemburg, September 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.

Dirk Holz and Sven Behnke:
Approximate Surface Reconstruction and Registration for RGB-D SLAM
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 Proceedings of 3rd International Conference on Unmanned Aerial Vehicles in Geomatics (UAV-g), Toronto, Canada, August 2015. 

Mircea Serban Pavel, Hannes Schulz and Sven Behnke:
Recurrent Convolutional Neural Networks for Object-Class Segmentation of RGB-D Video
In Proceedings of International Joint Conference on Neural Networks (IJCNN), Killarney, Ireland, July 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.

Max Schwarz and Sven Behnke:
Semi-autonomous Concurrent Driving-Stepping Locomotion
Late Breaking Result Abstract at IEEE International Conference on Robotics and Automation (ICRA), Seattle, USA, May 2015. [Poster]

Marcell Missura and Sven Behnke:
Online Learning of Sagittal Push Recovery for Bipedal Robots
Late Breaking Result Abstract at IEEE International Conference on Robotics and Automation (ICRA), Seattle, USA, May 2015. [Poster] [Video]

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, Max Schwarz, Mark Schadler, Angeliki Topalidou-Kyniazopoulou, and Sven Behnke:
NimbRo Explorer: Semi-Autonomous Exploration and Mobile Manipulation in Rough Terrain
Journal of Field Robotics, published online, Wiley, 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(3):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.), Springer Vieweg, 2015.

Hannes Schulz, Nico Höft, and Sven Behnke:
Depth and Height Aware Semantic RGB-D Perception with Convolutional Neural Networks
In Proceedings of European Symposium on Artificial Neural Networks (ESANN), April 2015.

Hannes Schulz, Benedikt Waldvogel, Rasha Sheikh, and Sven Behnke:
CURFIL: Random Forests for Image Labeling on GPU
In Proceedings of 10th International Conference on Computer Vision Theory and Applications (VISAPP), March 2015.
[Source code]

Hannes Schulz, Kyunghyun Cho, Tapani Raiko, and Sven Behnke:
Two-Layer Contractive Encodings for Learning Stable Nonlinear Features
Neural Networks 64:4-11, Elsevier, 2015.

2014

Jörg-Dieter Stückler:
Efficient Dense Registration, Segmentation, and Modeling Methods for RGB-D Environment Perception
Dissertation, Mathematisch-Naturwissenschaftliche Fakultät, Universität Bonn, 2014. 
Winner of 2015 Georges Giralt PhD Award.

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.
[Video]

Marcell Missura and Sven Behnke:
Online Learning of Foot Placement for Balanced Bipedal Walking
In Proceedings of 14th IEEE-RAS International Conference on Humanoid Robots (Humanoids), Madrid, Spain, November 2014.
[Video]

Philipp Allgeuer and Sven Behnke:
Robust Sensor Fusion for Robot Attitude Estimation
In Proceedings of 14th IEEE-RAS International Conference on Humanoid Robots (Humanoids), Madrid, Spain, November 2014.
[Source code]

Philipp Allgeuer and Sven Behnke:
Fused Angles for Body Orientation Representation
In Proceedings of 9th Workshop on Humanoid Soccer Robots,14th IEEE-RAS International Conference on Humanoid Robots (Humanoids), Madrid, Spain, November 2014. [Source code]

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.

Andreas Christian Müller:
Methods for Learning Structured Prediction in Semantic Segmentation of Natural Images
Dissertation, Mathematisch-Naturwissenschaftliche Fakultät, Universität Bonn, 2014. urn:nbn:de:hbz:5n-37289

Nico Höft, Hannes Schulz and Sven Behnke:
Fast Semantic Segmentation of RGB-D Scenes with GPU-Accelerated Deep Neural Networks
In Proceedings of 37th German Conference on Artificial Intelligence (KI), pp. 80-85, Springer LNCS 8736,
Stuttgart, September 2014.

Hannes Schulz and Sven Behnke:
Structured Prediction for Object Detection in Deep Neural Networks
In Proceedings of 24th International Conference on Artificial Neural Networks (ICANN), Hamburg, September 2014.

Dirk Holz and Sven Behnke:
Approximate Triangulation and Region Growing for Efficient Segmentation and Smoothing of Range Images
Robotics and Autonomous Systems 62(9):1282-1293, September 2014.

Jacky Baltes, Soroush Sadeghnejad, Daniel Seifert, and Sven Behnke:
RoboCup Humanoid League Rule Developments 2002-2014 and Future Perspectives
In Proceedings of 18th RoboCup International Symposium, Joao Pessoa, Brasil, July 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.

Marcell Missura and Sven Behnke:
Balanced Walking with Capture Steps
In Proceedings of 18th RoboCup International Symposium, Joao Pessoa, Brasil, July 2014.
[Video]

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
Accepted for 13th International Conference on Intelligent Autonomous Systems (IAS), Padova, Italy, 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.

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.

Andreas C. Müller and Sven Behnke:
PyStruct - Learning Structured Prediction in Python
Journal of Machine Learning Research (JMLR) 15(Jun):2055−2060, 2014

Mark Schadler, Jörg Stückler, and Sven Behnke:
Rough Terrain 3D Mapping and Navigation using a Continuously Rotating 2D Laser Scanner
German Journal on Artificial Intelligence (KI) 28(2):93-99, Springer, 2014.

Jörg Stückler, Arno Gutt, and Sven Behnke:
Combining the Strengths of Sparse Interest Point and Dense Image Registration for RGB-D Odometry
In Proceedings of Joint 45th International Symposium on Robotics (ISR) and 8th German Conference on Robotics (ROBOTIK), Munich, June 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.

Max Schwarz and Sven Behnke:
Local Navigation in Rough Terrain using Omnidirectional Height
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.

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.

Kathrin Gräve and Sven Behnke:
Bayesian Exploration and Interactive Demonstration in Continuous State MAXQ-Learning
In Proceedings of IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, May 2014.

David Droeschel, Jörg Stückler, and Sven Behnke:
Local Multi-Resolution 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.

Andreas Christian Müller and Sven Behnke:
Learning Depth-Sensitive Conditional Random Fields for Semantic Segmentation of RGB-D Images
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.

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), pp. 288-289, Bielefeld, Germany, 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.

Marcell Missura, Cedrick Münstermann, Philipp Allgeuer, Max Schwarz, Julio Pastrana, Sebastian Schueller, Michael Schreiber, and Sven Behnke:
Learning to Improve Capture Steps for Disturbance Rejection in Humanoid Soccer
RoboCup 2013: Robot World Cup XVII, Lecture Notes in Computer Science 8371, pp. 56-67, Springer, 2014.

Andreas Christian Müller and Sven Behnke:
Learning a Loopy Model For Semantic Segmentation Exactly
In Proceedings of 9th International Conference on Computer Vision Theory and Applications (VISAPP), Lisbon, January 2014.

Dirk Holz, Matthias Nieuwenhuisen, David Droeschel, Jörg Stückler, Alexander Berner, Jun Li, Reinhard Klein, and Sven Behnke:
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.

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, Springer, January 2014.
[source code]

2013

Hannes Schulz, Kyunghyun Cho, Tapani Raiko, and Sven Behnke:
Two-Layer Contractive Encodings with Shortcuts for Semi-supervised Learning
In Proceedings of 20th International Conference on Neural Information Processing (ICONIP), pp. 450-457, Daegu, Korea, November 2013.

Kathrin Gräve and Sven Behnke:
Learning Sequential Tasks Interactively from Demonstrations and Own Experience
In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Tokyo, Japan, November 2013.
Finalist for CoTeSys Cognitive Robotics Best Paper Award.

Mark Schadler, Jörg Stückler and Sven Behnke:
Multi-Resolution Surfel Mapping and Real-Time Pose Tracking using a Continuously Rotating 2D Laser Scanner
In Proceedings of 11th IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), Linköping, Sweden, October 2013.

Marcell Missura and Sven Behnke:
Omnidirectional Capture Steps for Bipedal Walking
In Proceedings of 13th IEEE-RAS International Conference on Humanoid Robots (Humanoids), Atlanta, GA, October 2013.

Philipp Allgeuer, Max Schwarz, Julio Pastrana, Sebastian Schueller, Marcell Missura and Sven Behnke:
A ROS-Based Software Framework for the NimbRo-OP Humanoid Open Platform.
In Proceedings of 8th Workshop on Humanoid Soccer Robots, IEEE-RAS International Conference on Humanoid Robots (Humanoids), Atlanta, October 2013.

Philipp Allgeuer and Sven Behnke:
Hierarchical and State-based Architectures for Robot Behavior Planning and Control.
In Proceedings of 8th Workshop on Humanoid Soccer Robots, IEEE-RAS International Conference on Humanoid Robots (Humanoids), Atlanta, October 2013.

Marcell Missura and Sven Behnke:
Self-stable Omnidirectional Walking with Compliant Joints.
In Proceedings of 8th Workshop on Humanoid Soccer Robots, IEEE-RAS International Conference on Humanoid Robots (Humanoids), Atlanta, October 2013.

Matthias Nieuwenhuisen and Sven Behnke:
Human-like Interaction Skills for the Mobile Communication Robot Robotinho
In International Journal of Social Robotics (SORO), Special Issue on Emotional Expression and Its Applications, vol. 5(4):549-561, Springer, 2013. DOI: 10.1007/s12369-013-0206-y

Manus McElhone, Jörg Stückler, and Sven Behnke:
Joint Detection and Pose Tracking of Multi-Resolution Surfel Models in RGB-D
In Proceedings of 6th European Conference on Mobile Robots (ECMR), Barcelona, Spain, September 2013.

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.

Torsten Fiolka, Jörg Stückler, Dominik A. Klein, Dirk Schulz, and Sven Behnke:
Distinctive 3D Surface Entropy Features for Place Recognition
In Proceedings of 6th European Conference on Mobile Robots (ECMR), Barcelona, Spain, September 2013.

Jörg Stückler and Sven Behnke:
Efficient Dense 3D Rigid-Body Motion Segmentation in RGB-D Video
In Proceedings of 24th British Machine Vision Conference (BMVC), Bristol, UK, September 2013. 

Dirk Holz, Matthias Nieuwenhuisen, David Droeschel, Michael Schreiber and Sven Behnke:
Towards Multimodal Omnidirectional Obstacle Detection for Autonomous Unmanned Aerial Vehicles
Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XL-1/W2, 201-206, 2013.

Matthias Nieuwenhuisen, Mark Schadler, and Sven Behnke:
Predictive Potential Field-based Collision Avoidance for Multicopters
In ISPRS Archives of Photogrammetry, Remote Sensing and Spatial Information Sciences. Vol. XL-1/W2, 2013.

David Droeschel, Michael Schreiber, and Sven Behnke:
Omnidirectional Perception for Lightweight UAVs Using a Continuous Rotating 3D Laser Scanner
In Proceedings of International Conference on Unmanned Aerial Vehicles in Geomatics (UAV-g), Rostock, Germany, September 2013.

Alexander Berner, Jun Li, Dirk Holz, Jörg Stückler, Sven Behnke, and Reinhard Klein:
Combining Contour and Shape Primitives for Object Detection and Pose Estimation of Prefabricated Parts
In Proceedings of IEEE International Conference on Image Processing (ICIP), Melbourne, Australia, September 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.

Zahid Riaz, Thorsten Linder, Sven Behnke, Rainer Worst, Hartmut Surmann:
Efficient Transmission and Rendering of RGB-D Views
In Proceedings of 9th International Symposium on Visual Computing (ISVC), Rethymnon, Crete, Greece, July 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.

Max Schwarz and Sven Behnke:
Compliant Robot Behavior using Servo Actuator Models identified by Iterative Learning Control
In Proceedings of 17th RoboCup International Symposium, Eindhoven, Netherlands, June 2013.

Max Schwarz, Julio Pastrana, Philipp Allgeuer, Michael Schreiber, Sebastian Schueller, Marcell Missura and Sven Behnke:
Humanoid TeenSize Open Platform NimbRo-OP
In Proceedings of 17th RoboCup International Symposium, Eindhoven, Netherlands, June 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.
[source code]

Sven Behnke:
Kooperierende Mobile Roboter
at-Automatisierungstechnik, 61(4): 233-244, Oldenbourg Verlag, DOI:10.1524/auto.2013.0016, 2013.

Matthias Nieuwenhuisen, David Droeschel, Dirk Holz, Jörg Stückler, Alexander Berner, Jun Li, Reinhard Klein, and Sven Behnke:
Mobile Bin Picking with an Anthropomorphic Service Robot
In Proceedings of IEEE International Conference on Robotics and Automation (ICRA), Karlsruhe, May 2013.

Salvador Domínguez, Eduardo Zalama, Jaime Gómez García-Bermejo, Rainer Worst, and Sven Behnke:
Fast 6D Odometry Based on Visual Features and Depth
In Frontiers of Intelligent Autonomous Systems, pp. 5-16, Studies in Computational Intelligence, Volume 466, Springer, 2013.

Hannes Schulz, Johannes A. Postma, Dagmar van Dusschoten, Hanno Scharr, and Sven Behnke:
Plant Root System Analysis from MRI Images
In Computer Vision, Imaging and Computer Graphics. Theory and Application, pp. 411-425, Communications in Computer and Information Science Volume 359, Springer, 2013.

David Jiménez Cabello, Sven Behnke, and Daniel Pizarro Perez:
Linear Plane Border: A Primitive for Range Images Combining Depth Edges and Surface Points
In Proceedings of 8th International Conference on Computer Vision Theory and Applications (VISAPP), Barcelona, Spain, February 2013.

Marcell Missura, Cedrick Münstermann, Malte Mauelshagen, Michael Schreiber and Sven Behnke:
RoboCup 2012 Best Humanoid Award Winner NimbRo TeenSize
RoboCup 2012, Robot Soccer World Cup XVI, LNCS 7500, pp. 89-93, Springer, 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.

Laura Stingaciu, Hannes Schulz, Andreas Pohlmeier, Sven Behnke, Herwig Zilken, Mathieu Javaux, and Harry Vereecken:
In Situ Root System Architecture Extraction from Magnetic Resonance Imaging for Application to Water Uptake Modeling
Vadose Zone Journal, 12(1), 2013.

Tobias K. Kohoutek, David Droeschel, Rainer Mautz, and Sven Behnke:
Indoor Positioning and Navigation using Time-of-Flight Cameras
In Fabio Remondino and David Stoppa (Eds.): TOF Range Imaging Cameras, pp. 165-176, Springer, 2013.

2012

Max Schwarz, Michael Schreiber, Sebastian Schueller, Marcell Missura and Sven Behnke:
NimbRo-OP Humanoid TeenSize Open Platform
In Proceedings of 7th Workshop on Humanoid Soccer Robots, IEEE-RAS International Conference on Humanoid Robots, Osaka, November 2012.

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. 

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.

Hannes Schulz and Sven Behnke:
Deep Learning - Layer-wise Learning of Feature Hierarchies
KI - Künstliche Intelligenz, 26(4), pp. 357-363, November 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), Vilamoura, 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), Vilamoura, Portugal, October 2012.

Hannes Schulz and Sven Behnke:
Learning Two-Layer Contractive Encodings
In Proceedings of International Conference on Artificial Neural Networks (ICANN), pp. 620-628, September 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.
[source code]

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.
[source code]

Andreas Müller, Sebastian Nowozin and Christoph H. Lampert:
Information Theoretic Clustering using Minimum Spanning Trees
DAGM-OAGM, August 2012.

German Martin Garcia, Dominik Klein, Jörg Stückler, Simone Frintrop, and Armin B. Cremers:
Adaptive Multi-cue 3D Tracking of Arbitrary Objects
DAGM-OAGM, August 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.

Daniel D. Lee, Seung-Joon Yi, Stephen McGill, Yida Zhang, Sven Behnke, Marcell Missura, Hannes Schulz, Dennis Hong, Jeakweon Han, and Michael Hopkins:
RoboCup 2011 Humanoid League Winners
In: RoboCup 2011: Robot Soccer World Cup XV, LNCS 7416, pp. 37-50, Springer, 2012.

Jörg Stückler and Sven 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]

Salvador Dominguez, Eduardo Zalama, Jaime Gomez Garcia-Bermejo, Rainer Worst, and Sven Behnke:
Fast 6D Odometry Based on Visual Features and Depth
In Proc. of  the 12th International Conference on Intelligent Autonomous Systems (IAS-12), Jeju Island, Korea, June 2012.
Finalist for Best Paper Award.

Dirk Holz and Sven Behnke:
Fast Range Image Segmentation and Smoothing using Approximate Surface Reconstruction and Region Growing
In Proc. of  the 12th International Conference on Intelligent Autonomous Systems (IAS-12), Jeju Island, Korea, 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.

Juan José Alcaraz-Jiménez, Marcell Missura, Humberto Martínez-Barberá, and Sven Behnke:
Lateral Disturbance Rejection for the Nao Robot
In Proceedings of 16th RoboCup International Symposium, Mexico City, June 2012.
Best Paper Award.
In: RoboCup 2012: Robot Soccer World Cup XVI, LNCS 7500, pp. 1-12, Springer, 2013.

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.

Matthias Nieuwenhuisen, Jörg Stückler, Alexander Berner, Reinhard Klein and Sven Behnke:
Shape-Primitive Based Object Recognition and Grasping
In Proc. of the 7th German Conference on Robotics (ROBOTIK), 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, 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, May 2012.
[source code]

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
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
In Proc. of the ICRA Workshop on Software Development and Integration in Robotics (SDIR), St. Paul, USA, May 2012.

Torsten Fiolka, Jörg Stückler, Dominik Alexander Klein, Dirk Schulz and Sven 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.

Hannes Schulz and Sven Behnke:
Utilizing the Structure of Field Lines for Efficient Soccer Robot Localization
Advanced Robotics, 26(14):1603-1621, 2012.

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

Hannes Schulz, Johannes Postma, Dagmar van Dusschoten, Hanno Scharr, and Sven Behnke:
3D Reconstruction of Plant Roots from MRI Images
In Proceedings of International Conference on Computer Vision Theory and Applications (VISAPP), Rome, 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.''
[source code]

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.
Springer LNCS 7081, pp. 110-119.

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.
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.

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.
In: RoboCup 2011: Robot Soccer World Cup XV, LNCS 7416, pp. 198-209, Springer, 2012.

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.
In: RoboCup 2011: Robot Soccer World Cup XV, LNCS 7416, pp. 149-161, Springer, 2012.

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.
In: RoboCup 2011: Robot Soccer World Cup XV, LNCS 7416, pp. 495-506, Springer, 2012.

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:
Multi-frequency 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
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, 2010.

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 of Sven Behnke
 

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