Master of Science
Member of research staff in the Autonomous Intelligent Systems Group
Address:
David Droeschel
Rheinische
Friedrich-Wilhelms-Universität Bonn
Institut für Informatik VI
Friedrich-Ebert-Allee 144
53113 Bonn
Tel:
+49 (0) 228 73-4175
Fax:
+49 (0) 228 73-4425
Email: droeschel _at_ ais.uni-bonn.de
Office: I.08a
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
Accepted for Journal of Intelligent & Robotic Systems (JINT),
Springer, to appear 2018
[Video]
David Droeschel and Sven Behnke:
Efficient
Continuous-time SLAM for 3D Lidar-based Online Mapping
Accepted for IEEE International Conference on Robotics and Automation
(ICRA), Brisbane, Australia, May 2018.
[Video]
Max Schwarz, Marius Beul, David Droeschel, Tobias Klamt,
Christian
Lenz,
Dmytro Pavlichenko, Tobias Rodehutskors, Michael Schreiber, Nikita
Araslanov, Ivan Ivanov, Jan Razlaw, Sebastian Schüller, David Schwarz,
Angeliki Topalidou-Kyniazopoulou, and Sven Behnke:
DRC Team NimbRo Rescue:
Perception and Control for Centaur-like Mobile Manipulation Robot Momaro
Accepted for: The Darpa Robotics Challenge Finals: Humanoid Robots To
The Rescue, Springer Tracts in Advanced Robotics (STAR), vol. 121, to
appear 2018.
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.
[Video]
Marius Beul, Nicola Krombach, Matthias Nieuwenhuisen, David
Droeschel, and Sven Behnke:
Autonomous Navigation in
a Warehouse with a Cognitive Micro Aerial Vehicle
In Robot Operating System (ROS), The Complete Reference
(Volume 2), pp. 487-524, Springer 2017.
Max Schwarz, Tobias Rodehutskors, David Droeschel, Marius
Beul, Michael Schreiber,
Nikita Araslanov, Ivan Ivanov, Christian Lenz, Jan Razlaw, Sebastian
Schüller,
David Schwarz, Angeliki Topalidou-Kyniazopoulou, and Sven Behnke:
NimbRo Rescue: Solving
Disaster-Response Tasks through Mobile Manipulation Robot Momaro
Journal of Field Robotics (JFR) 34(2):400–425, 2017.
David Droeschel, Max Schwarz, and Sven Behnke:
Continuous Mapping and
Localization for Autonomous Navigation in Rough Terrain using a 3D
Laser Scanner
Robotics and Autonomous Systems, volume 88, pages 104–115, Elsevier,
February 2017.
doi:
10.1016/j.robot.2016.10.017
Sebastian Houben, David Droeschel, and Sven Behnke:
Joint 3D Laser
and Visual Fiducial based SLAM for a Micro Aerial Vehicle
In Proceedings of
IEEE International Conference on Multisensor Fusion and Integration for
Intelligent Systems (MFI), Baden-Baden, Germany, September
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
Frontiers in Robotics and AI, section Humanoid Robotics, vol. 3,
article 57, October 2016.
DOI:
10.3389/frobt.2016.00057
Nicola Krombach, David Droeschel, and Sven Behnke:
Combining
Feature-based and Direct Methods for Semi-dense Real-time Stereo Visual
Odometry
In Proceedings of 14th International Conference on Intelligent
Autonomous
Systems (IAS), Shanghai, China, July 2016.
Best Paper Award.
[KITTY video]
[EuRoC video]
Max Schwarz, Sebastian Schüller, Christian Lenz, David
Droeschel, and Sven Behnke:
Supervised
Autonomy for Exploration and Mobile Manipulation in Rough Terrain
In Proceedings of 14th International Conference on Intelligent
Autonomous
Systems (IAS), Shanghai, China, July 2016.
David Droeschel and Sven Behnke:
MRSLaserMap:
Local Multiresolution Grids for Efficient 3D Laser Mapping and
Localization
In Proceedings of 20th RoboCup International Symposium, Leipzig,
Germany, July 2016.
[Source
code]
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, 33(4):451-475, Wiley, 2016.
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, Volume 84, Issue
1–4, pp 199–216, Springer, 2016.
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, October 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.
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.
Marius Beul, Nicola Krombach, Yongfeng Zhong, David Droeschel,
Matthias Nieuwenhuisen, and Sven Behnke:
A
High-performance MAV for Autonomous Navigation in Complex 3D
Environments
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
David Droeschel, 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.
F. Maurelli, D. Droeschel, T. Wisspeintner, S. May and H. Surmann (2009, June).
A 3D Laser Scanner System for Autonomous Vehicle Navigation
In Proceedings of the 14th International Conference on Advanced Robotics (ICAR), Munich, Germany.
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.
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.
T. Wisspeintner, F. Maurelli, D. Droeschel, S. May, H. Surmann and K. Pervölz (2008, October).
A 3D Laser Scanner System for Intersection Analysis and Autonomous Driving
In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Workshop on 3D Mapping, Nice, France.
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MBZIRC 2017 Mohamed Bin Zayed International Robotics Challenge 2017 |
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MRSLaserMap Open-source release of our laser mapping system and datasets |
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NimbRo Rescue Mobile manipulation robot for the DARPA Robotics Challenge |
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Mapping on Demand FOR 1505 Mapping on Demand ( since November 2011 ) local perception and 3D navigation for unmanned aerial vehicles |
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ActReMa Active Recognition and Manipulation of Simple Parts Exploiting 3D Information ( January 2011 - June 2012 ) active recognition and manipulation for mobile robot bin picking |
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NimbRo@home RoboCup @home League (since May 2009) domestic service robots with anthropomorphic body scheme |
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3D Mapping with Time-of-Flight Cameras Master Thesis at Fraunhofer IAIS, Sankt Augustin (October 2008 - March 2009) ego-motion estimation and mapping with Time-of-Flight cameras |
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Fraunhofer 3D-Laser-Scanner Fraunhofer IAIS, Sankt Augustin ( March 2007 - February 2009) driver and application development for 3D scanner |
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Team Berlin DARPA Urban Challenge (March 2007 - November 2007) autonomously driving car in an urban scenario |
Universität Bonn, Institute for Computer Science, Departments: I, II, III, IV, V, VI
