Dirk Holz

Member of research staff in the Autonomous Intelligent Systems Group

Address: 

   Dirk Holz
   Rheinische Friedrich-Wilhelms-Universität Bonn
   Institut für Informatik VI
   Friedrich-Ebert-Allee 144
   53113 Bonn 

Tel:  +49 (0) 228 73-54159 (and +49 (0) 228 73-4434)
Fax: +49 (0) 228 73-4425 

Email: holz _at_ ais.uni-bonn.de

Office: I.08

---

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

---

News

05/2013

The proceedings and talk materials of our 2013 workshop on Semantic Perception, Mapping and Exploration (SPME) are now available at http://spme.ws. Thanks again for all the amazing talks and discussions.

Presentation materials of our ICRA 2013 PCL Tutorial are available at http://pointclouds.org/media/icra2013.html.

05/2012

The proceedings and talk materials of our ICRA 2012 workshop on Semantic Perception, Mapping and Exploration (SPME) are now available at http://spme.ws. Thanks again for all the amazing talks and discussions.

Presentation materials and code examples of our ICRA 2012 PCL Tutorial are available at http://pointclouds.org/media/icra2012.html.

02/2012

Our ICRA 2012 workshop on Semantic Perception, Mapping and Exploration (SPME) got accepted. It will take place on Monday May 14th in St. Paul, Minnesota, USA (first conference day).
See http://spme.ws for submission information, program and proceedings.

11/2011

Presentation materials and code examples of our ICCV 2011 PCL Tutorial are available at http://pointclouds.org/media/iccv2011.html.

10/2011

Presentation materials and code examples of our IROS 2011 PCL Tutorial are available at http://pointclouds.org/media/iros2011.html.

05/2011

I'm co-organizing the IROS 2011 Workshop Active Semantic Perception and Object Search in the Real World. It will take place on Monday September 26th in San Francisco, CA, USA (first conference day).
The call for papers is available here: http://www.csc.kth.se/~aydemir/IROS11-WS-AVS.html.

05/2011

We are organizing a special issue on Semantic Perception, Mapping and Exploration in the Journal of Robotics and Autonomous Systems. The call for papers is available here: http://www.elsevierscitech.com/pdfs/632_CFP_SPME.pdf.

05/2011

The proceedings (and talk materials) of our ICRA 2011 Workshop on Semantic Perception, Mapping and Exploration (SPME) which took place on Monday May 9th in Shanghai, China are available at http://www.ais.uni-bonn.de/~holz/spme. (New workshop website is upcoming!)

04/2011

We won the @Home league at the RoboCup GermanOpen in Magdeburg, Germany. Here's a video of our final demo:
http://www.youtube.com/watch?v=zR_6IrJswU4

03/2011

Our RSS 2011 tutorial "3D Point Cloud Processing: PCL" got accepted. It will take place on Friday July 1st in Los Angeles, CA, USA (last conference day).
See http://www.willowgarage.com/workshops/2011/rss_pcl for more information.

01/2011

Our ICRA 2011 workshop on Semantic Perception, Mapping and Exploration (SPME) got accepted. It will take place on Monday May 9th in Shanghai, China (first conference day).
See http://www.willowgarage.com/workshops/2011/icra_spme for submission information, program and proceedings.

10/2010

The proceedings (and talk materials) of our IROS 2010 Workshop on Semantic Mapping and Autonomous Knowledge Acquisition which took place on Friday October 22nd in Taipei, Taiwan are available at http://www.ais.uni-bonn.de/~holz/iros10wssm/program.php.

---

Publications

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

2012

• D. Holz and S. Behnke (2012, June). Fast Range Image Segmentation and Smoothing using Approximate Surface Reconstruction and Region Growing. In Proceedings of the 12th International Conference on Intelligent Autonomous Systems (IAS), Jeju Island, Korea.
  [Bibtex] [Paper (.pdf)]
• J. Stückler, D. Holz, and S. Behnke (2012, June). RoboCup@Home: Demonstrating Everyday Manipulation Skills in RoboCup@Home. IEEE Robotics & Automation Magazine (RAM), Special Issue on Mobile Manipulation. Volume 19, issue 2, pages 34-42.
  [Bibtex] [Article link]
• T. Breuer, G. Giorgana Macedo, R. Hartanto, N. Hochgeschwender, D. Holz, F. Hegger, Z. Jin, C. Müller, J. Paulus, M. Reckhaus, J. Álvarez Ruiz, P. Plöger, and G. Kraetzschmar: Johnny: An Autonomous Service Robot for Domestic Environments. In Journal of Intelligent and Robotic Systems, Special Issue on Domestic Service Robots. Volume 66, Numbers 1-2 (2012), pages 245-272.
  [Bibtex] [Article Link]

2011

• K. M. Wurm, D. Hennes, D. Holz, R. B. Rusu, C. Stachniss, K. Konolige, and W. Burgard (2011, September). Hierarchies of Octrees for Efficient 3D Mapping. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), San Francisco, CA, USA, pages 4249-4255.
  [Bibtex] [Paper (.pdf)]
• J. Stückler, R. Steffens, D. Holz, and S. Behnke (2011, September). Real-Time 3D Perception and Efficient Grasp Planning for Everyday Manipulation Tasks. In Proceedings of the European Conference on Mobile Robots (ECMR), Örebro, Sweden, pages 177-182.
  [Bibtex] [Paper (.pdf)]
• D. Holz, N. Basilico, F. Amigoni, and S. Behnke (2011, September). A comparative evaluation of exploration strategies and heuristics to improve them. In Proceedings of the European Conference on Mobile Robots (ECMR), Örebro, Sweden, pages 25-30.
  [Bibtex] [Paper (.pdf)]
• D. Holz, S. Holzer, R. B. Rusu, and S. Behnke (2011, July). Real-Time Plane Segmentation using RGB-D Cameras. In Proceedings of the 15th RoboCup International Symposium, Istanbul, Turkey.
  [Bibtex] [Paper (.pdf)]
  and
  In RoboCup 2011: Robot Soccer World Cup XV, Lecture Notes in Computer Science LNCS 7416, pp. 306-317, Springer, 2012.
  [Bibtex] [Book link]
• J. Stückler, D. Droeschel, K. Gräve, D. Holz, J. Kläß, M. Schreiber, R. Steffens, and S. Behnke. Towards Robust Mobility, Flexible Object Manipulation, and Intuitive Multimodal Interaction for Domestic Service Robots. In Proceedings of the 15th RoboCup International Symposium, Istanbul, Turkey.
  [Bibtex] [Paper (.pdf)]
  and
  In RoboCup 2011: Robot Soccer World Cup XV, Lecture Notes in Computer Science LNCS 7416, pp. 51-62, Springer, 2012.
  [Bibtex] [Book link]
• D. Droeschel, J. Stückler, D. Holz, and S. Behnke (2011, May). Towards Joint Attention for a Domestic Service Robot – Person Awareness and Gesture Recognition using Time-of-Flight Cameras. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Shanghai, China, pages 1205-1210.
  Finalist for KUKA Service Robotics Best Paper Award.
  [Bibtex] [Paper (.pdf)]

2010

• D. Droeschel, D. Holz, and S. Behnke (2010, October). Multifrequency Phase Unwrapping for Time-of-Flight Cameras. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Taipei, Taiwan, pages 1436-1469.
  [Bibtex] [Paper (.pdf)]
• T. Linder, V. Tretyakov, S. Blumenthal, P. Molitor, H. Surmann, D. Holz, R. Murphy, and S. Tadokoro (2010, July). Rescue Robots at the Collapse of the Municipal Archive of Cologne City: a Field Report. In Proceedings of the IEEE International Workshop on Safety, Security, and Rescue Robotics (SSRR), Bremen, Germany.
  [Bibtex] [Paper (.pdf)]
• D. Holz, R. Schnabel, D. Droeschel, J. Stückler, and S. Behnke (2010, June). Towards Semantic Scene Analysis with Time-of-Flight Cameras. In Proceedings of the 14th RoboCup International Symposium, Singapore.
  [Bibtex] [Paper (.pdf)]
• D. Holz (2010, August). Effiziente Kartographie und Navigation für mobile Service Roboter. GI Informatik-Spektrum. Volume 33, issue 4, pages 393-397.
  [Bibtex] [Journal link] [Article link]
• D. Holz, N. Basilico, F. Amigoni, and S. Behnke (2010, June). Evaluating the efficiency of frontier-based exploration strategies. In Proceedings of the joint conference of the 41st International Symposium on Robotics (ISR 2010) and the 6th German Conference on Robotics (ROBOTIK 2010), Munich, Germany, pages 36-43.
  [Bibtex] [Paper (.pdf)]
• D. Droeschel, D. Holz, and S. Behnke (2010, June). Probabilistic Phase Unwrapping for Time-of-Flight Cameras. In Proceedings of the joint conference of the 41st International Symposium on Robotics (ISR 2010) and the 6th German Conference on Robotics (ROBOTIK 2010), Munich, Germany, pages 318-324.
  [Bibtex] [Paper (.pdf)]
• D. Holz and S. Behnke (2010, May). Sancta Simplicitas – On the efficiency and achievable results of SLAM using ICP-Based Incremental Registration. in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Anchorage, Alaska, USA, pages 1380-1387.
  [Bibtex] [Paper (.pdf)] [Additional material (.html)]
• D. Droeschel, D. Holz, J. Stückler, and S. Behnke (2010, May). Using Time-of-Flight Cameras with Active Gaze Control for 3D Collision Avoidance, in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Anchorage, Alaska, USA, pages 4035-4040.
  [Bibtex] [Paper (.pdf)]
• D. Holz, D. Droeschel, S. Behnke, S. May and H. Surmann (2010, March). Fast 3D Perception for Collision Avoidance and SLAM in Domestic Environments, Mobile Robots Navigation, Alejandra Barrera (Ed.), ISBN: 978-953-307-076-6, pages 53-84, IN-TECH Education and Publishing, Vienna, Austria.
  [Bibtex] [Book (.pdf at sciyo.com)] [Chapter (.pdf at sciyo.com)]
• D. Holz (2010, March). Naive but Efficient – Using Greedy Strategies for Exploration, Inspection and Search. In Proceedings of the 12. Fachwissenschaftlicher Informatik-Kongress, Lecture Notes in Informatics (LNI), Series of the Gesellschaft für Informatik (GI), Bonn, Germany, pages 27-30.
  Best Paper Award.
  [Bibtex] [Paper (.pdf)]

2009

• S. May, D. Droeschel, D. Holz, S. Fuchs, E. Malis, A. Nüchter and J. Hertzberg (2009, November/December). Three-Dimensional Mapping with Time-of-Flight Cameras. Journal of Field Robotics (JFR), Special Issue on Three-dimensional Mapping, Part 2. Volume 26, issues 11-12, pages 934-965.
  [Bibtex] [Journal link] [Article link]
• S. May, S. Fuchs, D. Droeschel, D. Holz and A. Nüchter (2009, October). Robust 3D-Mapping with Time-of-Flight Cameras. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), St. Louis, Missouri, USA, pages 1673-1678.
  [Bibtex] [Paper (.pdf)] [Slides (.pdf)]
• D. Droeschel, S. May, D. Holz, P. Ploeger and S. Behnke (2009, September). Robust Ego-Motion Estimation with ToF Cameras. In Proceedings of the European Conference on Mobile Robots (ECMR), Mlini, Croatia, pages 187-192.
  [Bibtex] [Paper (.pdf)]
• D. Holz, G. K. Kraetzschmar and E. Rome (2009, June/July). Robust and Computationally Efficient Navigation in Domestic Environments. In CD-Proceedings of the 13th RoboCup International Symposium, Graz, Austria and
  RoboCup 2009: Robot Soccer World Cup XIII, Lecture Notes in Computer Science, J. Baltes, M. Lagoudakis, T. Naruse, and S. Shiry (Eds.). Springer (Germany), 2010, volume 5949/2010, pages 104-115.
  [Bibtex] [Paper (.pdf)] [Springer Link]
• D. Holz (2009, March). Effiziente 2D-Navigation für Mobile Service Roboter. In Proceedings of the 11. Fachwissenschaftlicher Informatik-Kongress, Lecture Notes in Informatics (LNI), Series of the Gesellschaft für Informatik (GI), Bonn, Germany, pages 31-34.
  Best Paper Award.
  [Bibtex] [Paper (.pdf)]

2008

• H. Surmann, D. Holz, S. Blumenthal, T. Linder, P. Molitor and V. Tretyakov. Teleoperated Visual Inspection and Surveillance with Unmanned Ground and Aerial Vehicles. International Journal of Online Engineering (iJOE), 4(4):26-38, 2008.
  [Bibtex] [Paper (.pdf)] [Journal link] [Article link]
• S. Blumenthal, D. Droeschel, D. Holz, T. Linder, P. Molitor and H. Surmann (2008, November). Omnidirectional sensors for mobile robots. In Workshop-Proceedings of the International Conference on Simulation, Modeling and Programming for Autonomous Robots (SIMPAR), Venice, Italy, pages 415-425.
  [Bibtex] [Paper (.pdf)] [Poster (.pdf)]
• S. May, D. Droeschel, D. Holz, C. Wiesen and S. Fuchs (2008, October). 3D Pose Estimation and Mapping with Time-of-Flight Cameras. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Workshop on 3D Mapping, Nice, France.
  
  [Bibtex] [Abstract (.pdf)] [Slides (.pdf)] [Workshop link]
• D. Holz, C. Lörken and H. Surmann (2008, June/July). Continuous 3D Sensing for Navigation and SLAM in Cluttered and Dynamic Environments. In Proceedings of the International Conference on Information Fusion (FUSION), Cologne, Germany, pages 1469-1475.
  [Bibtex] [Paper (.pdf)]
• S. Blumenthal, D. Holz, T. Linder, P. Molitor, H. Surmann and V. Tretyakov (2008, June). Teleoperated Visual Inspection and Surveillance with Unmanned Ground and Aerial Vehicles. In CD-Proceedings of the International Conference on Remote Engineering and Virtual Instrumentation (REV).
  [Bibtex] [Paper (.pdf)] [Slides (.pdf)] [Slides (.ppt)]

  • Video "Saliency based Visual Attention for Tracking Unmanned Aerial Vehicles": [Video 1 (DIVX/.avi)]
  • Video "Android goes mobile — Tele-operation using Smartphones": [Video 2 (DIVX/.avi)]

2007

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