Dmytro Pavlichenko, Diego Rodriguez, Max Schwarz, Christian Lenz,
Arul Selvam Periyasamy, and Sven Behnke:
Skill Transfer within a
Category for Autonomous Dual-Arm Manipulation of Unknown Instances
of Large Objects
Accepted for IEEE-RAS 18th International Conference on Humanoid Robots
(Humanoids), Beijing, China, to appear November 2018.
Diego Rodriguez, Antonio Di Guardo, Antonio Frisoli, and Sven Behnke:
Learning Postural Synergies
for Categorical Grasping through Shape Space Registration
Accepted for IEEE-RAS 18th International Conference on Humanoid Robots
(Humanoids), Beijing, China, to appear November 2018.
Diego Rodriguez and Sven Behnke:
Transferring Category-based
Functional Grasping Skills by Latent Space Non-Rigid Registration
IEEE Robotics and Automation Letters (RA-L), Special Issue on Learning
and Control for Autonomous Manipulation Systems: the Role of
Dimensionality Reduction, April 2018.
[Video]
Diego Rodriguez, Corbin Cogswell, Seongyong Koo, and Sven Behnke:
Transferring Grasping Skills
to Novel Instances by Latent Space Non-Rigid Registration
Accepted for IEEE International Conference on Robotics and Automation
(ICRA), Brisbane, Australia, May 2018.
[Video]
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.
[Video]
Dmytro Pavlichenko and Sven Behnke:
Efficient Stochastic
Multicriteria Arm Trajectory Optimization
IEEE/RSJ International Conference on Intelligent Robots and Systems
(IROS), Vancouver, Canada,September 2017.
Jörg Stückler, Max Schwarz, and Sven Behnke:
Mobile
Manipulation,
Tool Use, and Intuitive Interaction for Cognitive Service Robot
Cosero
Frontiers in Robotics and AI, 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]
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.
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]
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.
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.
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.
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.
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.
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.