Jan Quenzel

Bachelor of Science (Computer Engineering)
Master of Science (Computer Science)
Member of research staff in the Autonomous Intelligent Systems Group

Address: 

   Jan Quenzel
   Rheinische Friedrich-Wilhelms-Universität Bonn
   Institut für Informatik VI
   Friedrich-Hirzebruch-Allee 8 ( Besucheradresse )
   Friedrich-Hirzebruch-Allee 5 ( Postadresse )
   53115 Bonn 

Tel:  +49 (0) 228 73-60792
Fax: +49 (0) 228 73-4425 

Email: quenzel _at_ ais.uni-bonn.de

Office: 0.050

Publications:

2021

• Radu Alexandru Rosu, Peer Schütt, Jan Quenzel, and Sven Behnke:
  LatticeNet: Fast Spatio-Temporal Point Cloud Segmentation Using Permutohedral Lattices
  Accepted for Autonomous Robots, Springer, to appear 2021.
  
  
• Jan Quenzel and Sven Behnke:
  Real-time Multi-Adaptive-Resolution-Surfel 6D LiDAR Odometry using Continuous-time Trajectory Optimization
  Accepted for IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Prague, Czech Republic, September 2021.
  
  
• Simon Bultmann, Jan Quenzel and Sven Behnke:
  Real-Time Multi-Modal Semantic Fusion on Unmanned Aerial Vehicles
  Accepted for 10th European Conference on Mobile Robots (ECMR), Bonn, Germany, September 2021.
  
  
• Christian Lenz, Jan Quenzel, Arul Selvam Periyasamy, Jan Razlaw, Andre Rochow, Malte Splietker, Michael Schreiber, Max Schwarz, Finn Süberkrüb, and Sven Behnke:
  Team NimbRo’s UGV Solution for Autonomous Wall Building and Fire Fighting at MBZIRC 2020
  Accepted for Field Robotics, to appear 2021.
  
  
• Daniel Schleich, Marius Beul, Jan Quenzel, and Sven Behnke:
  Autonomous Flight in Unknown GNSS-denied Environments for Disaster Examination
  In Proceedings of International Conference on Unmanned Aircraft Systems (ICUAS), Athens, Greece, June 2021.
  
  
• Jan Quenzel, Malte Splietker, Dmytro Pavlichenko, Daniel Schleich, Christian Lenz, Max Schwarz, Michael Schreiber, Marius Beul, and Sven Behnke:
  Autonomous Fire Fighting with a UAV-UGV team at MBZIRC 2020
  In Proceedings of International Conference on Unmanned Aircraft Systems (ICUAS), Athens, Greece, June 2021.
  
  
• Jens Behley, Martin Garbade, Andres Milioto, Jan Quenzel, Sven Behnke, Jürgen Gall, and Cyrill Stachniss:
  Towards 3D LiDAR-based Semantic Scene Understanding of 3D Point Cloud Sequences – The SemanticKITTI Dataset
  The International Journal of Robotics Research (IJRR), SAGE Publications, April 2021.
  
  

2020

• Radu Alexandru Rosu, Peer Schütt, Jan Quenzel, and Sven Behnke:
  LatticeNet: Fast Point Cloud Segmentation Using Permutohedral Lattices
  In Proceedings of Robotics: Science and Systems (RSS), Oregon, USA, July 2020.
  
  
• Jan Quenzel, Radu Alexandru Rosu, Thomas Läbe, Cyrill Stachniss, and Sven Behnke:
  Beyond Photometric Consistency: Gradient-based Dissimilarity for Improving Visual Odometry and Stereo Matching
  In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Paris, France, May 2020.
  
  
• Radu Alexandru Rosu, Jan Quenzel, and Sven Behnke:
  Semi-Supervised Semantic Mapping through Label Propagation with Semantic Texture Meshes
  International Journal of Computer Vision (IJCV) 128(5):1220-1238, Springer, May 2020
  
  

2019

• Jens Behley, Martin Garbade, Andres Milioto, Jan Quenzel, Sven Behnke, Cyrill Stachniss, Juergen Gall:
  SemanticKITTI: A Dataset for Semantic Scene Understanding of LiDAR Sequences
  Oral presentation at International Conference on Computer Vision (ICCV), Seoul, Korea, October 2019
  
  
• Radu Alexandru Rosu, Jan Quenzel, and Sven Behnke:
  Reconstruction of Textured Meshes for Fire and Heat Source Detection
  In Proceedings of IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), Würzburg, Germany, September 2019.
  
  
• Jan Razlaw, Jan Quenzel, and Sven Behnke:
  Detection and Tracking of Small Objects in Sparse 3D Laser Range Data
  In Proceedings of IEEE International Conference on Robotics and Automation (ICRA), Montreal, Canada, May 2019.
  
  
• Jan Quenzel, Matthias Nieuwenhuisen, David Droeschel, Marius Beul, Sebastian Houben, and Sven Behnke:
  Autonomous MAV-based Indoor Chimney Inspection with 3D Laser Localization and Textured Surface Reconstruction
  In Journal of Intelligent & Robotic Systems (JINT), Springer, February 2019
  
  
• Marius Beul, Matthias Nieuwenhuisen, Jan Quenzel, Radu Alexandru Rosu, Jannis Horn, Dmytro Pavlichenko, Sebastian Houben, and Sven Behnke:
  Team NimbRo at MBZIRC 2017: Fast Landing on a Moving Target and Treasure Hunting with a Team of Micro Aerial Vehicles
  In Journal of Field Robotics (JFR), Wiley, January 2019
  
  

2018

• Jan Quenzel, Jannis Horn, Sebastian Houben, and Sven Behnke:
  Keyframe-based Photometric Online Calibration and Color Correction
  In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, October 2018
  
  
• Marius Beul, David Droeschel, Matthias Nieuwenhuisen, Jan Quenzel, Sebastian Houben, and Sven Behnke:
  Fast Autonomous Flight in Warehouses for Inventory Applications
  IEEE Robotics and Automation Letters (RA-L) 3(4):3121-3128, 2018.
  In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, October 2018.
  
  

2017

• Jan Quenzel, Radu Alexandru Rosu, Sebastian Houben, and Sven Behnke:
  Online Depth Calibration for RGB-D Cameras using Visual SLAM
  In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, Canada, September 2017.
  
  
• Matthias Nieuwenhuisen, Marius Beul, Radu Alexandru Rosu, Jan Quenzel, Dmytro Pavlichenko, Sebastian Houben, and Sven Behnke:
  Collaborative Object Picking and Delivery with a Team of Micro Aerial Vehicles at MBZIRC
  In Proceedings of European Conference on Mobile Robotics (ECMR), Paris, France, September 2017.
  
  
• Matthias Nieuwenhuisen, Jan Quenzel, Marius Beul, David Droeschel, Sebastian Houben, and Sven Behnke:
  ChimneySpector: Autonomous MAV-based Indoor Chimney Inspection Employing 3D Laser Localization and Textured Surface Reconstruction
  In Proceedings of International Conference on Unmanned Aircraft Systems (ICUAS), Miami, FL, USA, June 2017.
  
  

2016

• Sebastian Houben, Jan Quenzel, Nicola Krombach, and Sven Behnke:
  Efficient Multi-camera Visual-Inertial SLAM for Micro Aerial Vehicles
  In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Deajeon, Korea, October 2016.
  
  
• Jan Quenzel, Nils Papenberg, and Sven Behnke:
  Robust Extrinsic Calibration of Multiple Stationary Laser Range Finders
  In Proceedings of 12th IEEE International Conference on Automation Science and Engineering (CASE), Fort Worth, TX, USA, August 2016.