Publications
Reviewed Publications with Project Acknowledgement
Marius Beul and Matthias Nieuwenhuisen and Jan Quenzel and Radu Alexandru Rosu and Jannis Horn and Dmytro Pavlichenko and 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", Journal of Field Robotics. Vol. 36(1), pp. 204-229. 2019.
@article{BeulJFR2019,
author = {Beul, Marius and Nieuwenhuisen, Matthias and Quenzel, Jan and Rosu, Radu Alexandru and Horn, Jannis and Pavlichenko, Dmytro and Houben, Sebastian and Behnke, Sven},
title = {Team {NimbRo} at {MBZIRC} 2017: Fast Landing on a Moving Target and Treasure Hunting with a Team of Micro Aerial Vehicles},
journal = {Journal of Field Robotics},
year = {2019},
volume = {36},
number = {1},
pages = {204-229},
url = {http://ais.uni-bonn.de/papers/JFR_2019_MBZIRC_Copter_Beul.pdf},
doi = {10.1002/rob.21817}
}
Sebastian Ochmann and Richard Vock and Reinhard Klein, "Automatic reconstruction of fully volumetric 3D building models from oriented point clouds", ISPRS Journal of Photogrammetry and Remote Sensing. Vol. 151, pp. 251-262. Elsevier. 2019.
@article{ochmann2019automatic,
author = {Ochmann, Sebastian and Vock, Richard and Klein, Reinhard},
title = {Automatic reconstruction of fully volumetric 3D building models from oriented point clouds},
journal = {ISPRS Journal of Photogrammetry and Remote Sensing},
publisher = {Elsevier},
year = {2019},
volume = {151},
pages = {251--262}
}
Pau Panareda Busto and Ahsan Iqbal and Juergen Gall, "Open Set Domain Adaptation for Image and Action Recognition", IEEE Transactions on Pattern Analysis and Machine Intelligence. 2019.
@article{Pau2019TPAMI,
author = {Pau {Panareda Busto} and Ahsan {Iqbal} and Juergen {Gall}},
title = {Open Set Domain Adaptation for Image and Action Recognition},
journal = {IEEE Transactions on Pattern Analysis and Machine Intelligence},
year = {2019},
url = {http://pages.iai.uni-bonn.de/gall_juergen/download/jgall_opensetdomain_pami18.pdf},
doi = {10.1109/TPAMI.2018.2880750}
}
Jan Quenzel and Matthias Nieuwenhuisen and David Droeschel and Marius Beul and Sebastian Houben and Sven Behnke, "Autonomous MAV-based Indoor Chimney Inspection with 3D Laser Localization and Textured Surface Reconstruction", Journal of Intelligent & Robotic Systems., February, 2019. Vol. 93(1), pp. 317-335. 2019.
@article{QuenzelJINT2019,
author = {Jan Quenzel and Matthias Nieuwenhuisen and David Droeschel and Marius Beul and Sebastian Houben and Sven Behnke},
title = {Autonomous {MAV}-based Indoor Chimney Inspection with {3D} Laser Localization and Textured Surface Reconstruction},
journal = {Journal of Intelligent {\&} Robotic Systems},
year = {2019},
volume = {93},
number = {1},
pages = {317--335},
url = {http://www.ais.uni-bonn.de/papers/JINT_2019_ChimneySpector.pdf},
doi = {10.1007/s10846-018-0791-y}
}
Patrick Stotko and Michael Weinmann and Reinhard Klein, "Albedo estimation for real-time 3D reconstruction using RGB-D and IR data", ISPRS Journal of Photogrammetry and Remote Sensing. Vol. 150, pp. 213-225. 2019.
@article{stotko2019albedo,
author = {Stotko, Patrick and Weinmann, Michael and Klein, Reinhard},
title = {Albedo estimation for real-time 3D reconstruction using RGB-D and IR data},
journal = {ISPRS Journal of Photogrammetry and Remote Sensing},
year = {2019},
volume = {150},
pages = {213--225},
url = {http://cg.cs.uni-bonn.de/en/publications/paper-details/stotko2019albedo/},
doi = {10.1016/j.isprsjprs.2019.01.018}
}
Patrick Stotko and Stefan Krumpen and Matthias B. Hullin and Michael Weinmann and Reinhard Klein, "SLAMCast: Large-Scale, Real-Time 3D Reconstruction and Streaming for Immersive Multi-Client Live Telepresence", IEEE Transactions on Visualization and Computer Graphics. Vol. 25(5), pp. 2102-2112. 2019.
Real-time 3D scene reconstruction from RGB-D sensor data, as well as the exploration of such data in VR/AR settings, has seen tremendous progress in recent years. The combination of both these components into telepresence systems, however, comes with significant technical challenges. All approaches proposed so far are extremely demanding on input and output devices, compute resources and transmission bandwidth, and they do not reach the level of immediacy required for applications such as remote collaboration. Here, we introduce what we believe is the first practical client-server system for real-time capture and many-user exploration of static 3D scenes. Our system is based on the observation that interactive frame rates are sufficient for capturing and reconstruction, and real-time performance is only required on the client site to achieve lag-free view updates when rendering the 3D model. Starting from this insight, we extend previous voxel block hashing frameworks by introducing a novel thread-safe GPU hash map data structure that is robust under massively concurrent retrieval, insertion and removal of entries on a thread level. We further propose a novel transmission scheme for volume data that is specifically targeted to Marching Cubes geometry reconstruction and enables a 90% reduction in bandwidth between server and exploration clients. The resulting system poses very moderate requirements on network bandwidth, latency and client-side computation, which enables it to rely entirely on consumer-grade hardware, including mobile devices. We demonstrate that our technique achieves state-of-the-art representation accuracy while providing, for any number of clients, an immersive and fluid lag-free viewing experience even during network outages.
@article{stotko2019slamcast,
author = {Stotko, Patrick and Krumpen, Stefan and Hullin, Matthias B. and Weinmann, Michael and Klein, Reinhard},
title = {SLAMCast: Large-Scale, Real-Time 3D Reconstruction and Streaming for Immersive Multi-Client Live Telepresence},
journal = {IEEE Transactions on Visualization and Computer Graphics},
year = {2019},
volume = {25},
number = {5},
pages = {2102--2112},
url = {http://cg.cs.uni-bonn.de/en/publications/paper-details/stotko2019slamcast/},
doi = {10.1109/TVCG.2019.2899231}
}
Richard Vock and Alexander Dieckmann and Sebastian Ochmann and Reinhard Klein, "Fast template matching and pose estimation in 3D point clouds", Computers & Graphics. Vol. 79, pp. 36-45. Elsevier. 2019.
@article{vock2019fast,
author = {Vock, Richard and Dieckmann, Alexander and Ochmann, Sebastian and Klein, Reinhard},
title = {Fast template matching and pose estimation in 3D point clouds},
journal = {Computers \& Graphics},
publisher = {Elsevier},
year = {2019},
volume = {79},
pages = {36--45}
}
Florian Zimmermann and Berit Schmitz and Lasse Klingbeil and Heiner Kuhlmann, "GPS Multipath Analysis Using Fresnel Zones", Sensors. Vol. 19(1), pp. 25. Multidisciplinary Digital Publishing Institute. 2019.
@article{zimmermann2019gps,
author = {Zimmermann, Florian and Schmitz, Berit and Klingbeil, Lasse and Kuhlmann, Heiner},
title = {GPS Multipath Analysis Using Fresnel Zones},
journal = {Sensors},
publisher = {Multidisciplinary Digital Publishing Institute},
year = {2019},
volume = {19},
number = {1},
pages = {25}
}
Yueh-Tung Chen and Martin Garbade and Juergen Gall, "3D Semantic Scene Completion From a Single Depth Image using Adversarial Training", In IEEE International Conference on Image Processing. 2019.
@inproceedings{Chen2019Semantic,
author = {Yueh-Tung Chen and Martin Garbade and Juergen Gall},
title = {{3D} Semantic Scene Completion From a Single Depth Image using Adversarial Training},
booktitle = {IEEE International Conference on Image Processing},
year = {2019},
url = {http://pages.iai.uni-bonn.de/gall_juergen/download/jgall_scenecompleteadversarial_icip19.pdf}
}
Martin Garbade and Yueh-Tung Chen and Johann Sawatzky and Juergen Gall, "Two Stream 3D Semantic Scene Completion", In Multimodal Learning and Applications Workshop. 2019.
@inproceedings{Garbade2019MultiWorkshop,
author = {Martin Garbade and Yueh-Tung Chen and Johann Sawatzky and Juergen Gall},
title = {Two Stream {3D} Semantic Scene Completion},
booktitle = {Multimodal Learning and Applications Workshop},
year = {2019},
url = {http://pages.iai.uni-bonn.de/gall_juergen/download/jgall_scenecomplete_mula19.pdf}
}
Matthias Nieuwenhuisen and Sven Behnke, "Search-based 3D Planning and Trajectory Optimization for Safe Micro Aerial Vehicle Flight Under Sensor Visibility Constraints", In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA). 2019.
@inproceedings{NieuwenhuisenICRA2019,
author = {Matthias Nieuwenhuisen and Sven Behnke},
title = {Search-based {3D} Planning and Trajectory Optimization for Safe Micro Aerial Vehicle Flight Under Sensor Visibility Constraints},
booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
year = {2019},
url = {https://arxiv.org/abs/1903.05165}
}
Sebastian Ochmann and Reinhard Klein, "Automatic normal orientation in point clouds of building interiors", In Proceedings of the ENGAGE Workshop of the Computer Graphics International Conference (CGI). 2019.
Orienting surface normals correctly and consistently is a fundamental problem in geometry processing. Applications such as visualization, feature detection, and geometry reconstruction often rely on the availability of correctly oriented normals. Many existing approaches for automatic orientation of normals on meshes or point clouds make severe assumptions on the input data or the topology of the underlying object which are not applicable to real-world measurements of urban scenes. In contrast, our approach is specifically tailored to the challenging case of unstructured indoor point cloud scans of multi-story, multi-room buildings. We evaluate the correctness and speed of our approach on multiple real-world point cloud datasets.
@inproceedings{Ochmann-2019-Orientation,
author = {Ochmann, Sebastian and Klein, Reinhard},
title = {Automatic normal orientation in point clouds of building interiors},
booktitle = {Proceedings of the ENGAGE Workshop of the Computer Graphics International Conference (CGI)},
year = {2019},
url = {https://arxiv.org/pdf/1901.06487}
}
Marius Beul and David Droeschel and Matthias Nieuwenhuisen and Jan Quenzel and Sebastian Houben and Sven Behnke, "Fast Autonomous Flight in Warehouses for Inventory Applications", IEEE Robotics and Automation Letters., Oct, 2018. Vol. 3(4), pp. 3121-3128. 2018.
@article{BeulRAL2018,
author = {Marius Beul and David Droeschel and Matthias Nieuwenhuisen and Jan Quenzel and Sebastian Houben and Sven Behnke},
title = {Fast Autonomous Flight in Warehouses for Inventory Applications},
journal = {IEEE Robotics and Automation Letters},
year = {2018},
volume = {3},
number = {4},
pages = {3121-3128},
url = {http://www.ais.uni-bonn.de/papers/RA-L_2018_Beul_InventAIRy.pdf},
doi = {10.1109/LRA.2018.2849833}
}
Pau Panareda Busto and Juergen Gall, "Viewpoint refinement and estimation with adapted synthetic data", Computer Vision and Image Understanding. 2018.
@article{Busto2018Viewpoint,
author = {Busto, Pau Panareda and Gall, Juergen},
title = {Viewpoint refinement and estimation with adapted synthetic data},
journal = {Computer Vision and Image Understanding},
year = {2018},
url = {http://gall.cv-uni-bonn.de/download/jgall_viewtransfer_cviu18.pdf},
doi = {10.1016/j.cviu.2018.01.005}
}
E. Palazzolo and C. Stachniss, "Effective Exploration for MAVs Based on the Expected Information Gain", Drones. Vol. 2(1) 2018.
Micro aerial vehicles (MAVs) are an excellent platform for autonomous exploration. Most MAVs rely mainly on cameras for buliding a map of the 3D environment. Therefore, vision-based MAVs require an efficient exploration algorithm to select viewpoints that provide informative measurements. In this paper, we propose an exploration approach that selects in real time the next-best-view that maximizes the expected information gain of new measurements. In addition, we take into account the cost of reaching a new viewpoint in terms of distance and predictability of the flight path for a human observer. Finally, our approach selects a path that reduces the risk of crashes when the expected battery life comes to an end, while still maximizing the information gain in the process. We implemented and thoroughly tested our approach and the experiments show that it offers an improved performance compared to other state-of-the-art algorithms in terms of precision of the reconstruction, execution time, and smoothness of the path.
@article{palazzolo2018drones,
author = {E. Palazzolo and C. Stachniss},
title = {{Effective Exploration for MAVs Based on the Expected Information Gain}},
journal = {Drones},
year = {2018},
volume = {2},
number = {1},
url = {http://www.ipb.uni-bonn.de/pdfs/palazzolo2018drones.pdf},
doi = {10.3390/drones2010009}
}
B. Della Corte and I. Bogoslavskyi and C. Stachniss and G. Grisetti, "A General Framework for Flexible Multi-Cue Photometric Point Cloud Registration", In Proceedings of the IEEE Int. Conf. on Robotics & Automation (ICRA). 2018.
@inproceedings{della-corte2018icra,
author = {Della Corte, B. and I. Bogoslavskyi and C. Stachniss and G. Grisetti},
title = {A General Framework for Flexible Multi-Cue Photometric Point Cloud Registration},
booktitle = {Proceedings of the IEEE Int. Conf. on Robotics \& Automation (ICRA)},
year = {2018},
url = {http://www.ipb.uni-bonn.de/wp-content/papercite-data/pdf/della-corte2018icra.pdf}
}
Alexander Dieckmann and Reinhard Klein, "Hierarchical additive poisson disk sampling", In Vision, Modeling and Visualization. The Eurographics Association. 2018.
Generating samples of point clouds and meshes with blue noise characteristics is desirable for many applications in rendering and geometry processing. Working with laser-scanned or lidar point clouds, we usually find region with artifacts called scan- lines and scan-edges. These regions are problematic for geometry processing applications, since it is not clear how many points should be selected to define a proper neighborhood. We present a method to construct a hierarchical additive poisson disk sampling from densely sampled point sets, which yield better point neighborhoods. It can be easily implemented using an octree data structure where each octree node contains a grid, called Modifiable Nested Octree [Sch14]. The generation of the sampling amounts to distributing the points over a hierarchy (octree) of resolution levels (grids) in a greedy manner. Propagating the distance constraint r through the hierarchy while drawing samples from the point set leads to a hierarchy of well distributed, random samplings. This ensures that in a disk with radius r, around a point, no other point upwards in the hierarchy is found. The sampling is additive in the sense that the union of points sets up to a certain hierarchy depth D is a poisson disk sampling. This makes it easy to select a resolution where the scan-artifacts have a lower impact on the processing result. The generated sampling can be made sensitive to surface features by a simple preprocessing step, yielding high quality low resolution poisson samplings of point clouds.
@inproceedings{DieckmannSampling,
author = {Dieckmann, Alexander and Klein, Reinhard},
title = {{Hierarchical additive poisson disk sampling}},
booktitle = {Vision, Modeling and Visualization},
publisher = {The Eurographics Association},
year = {2018}
}
David Droeschel and Sven Behnke, "Efficient Continuous-time SLAM for 3D Lidar-based Online Mapping", In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA). 2018.
@inproceedings{DroeschelICRA2018,
author = {David Droeschel and Sven Behnke},
title = {Efficient Continuous-time {SLAM} for {3D} Lidar-based Online Mapping},
booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
year = {2018},
url = {http://www.ais.uni-bonn.de/papers/ICRA_2018_Droeschel.pdf}
}
E. Palazzolo and C. Stachniss, "Fast Image-Based Geometric Change Detection Given a 3D Model", In Proceedings of the IEEE Int. Conf. on Robotics & Automation (ICRA). 2018.
@inproceedings{palazzolo2018icra,
author = {E. Palazzolo and C. Stachniss},
title = {{Fast Image-Based Geometric Change Detection Given a 3D Model}},
booktitle = {Proceedings of the IEEE Int. Conf. on Robotics & Automation (ICRA)},
year = {2018},
url = {http://www.ipb.uni-bonn.de/pdfs/palazzolo2018icra.pdf}
}
Jan Quenzel and Jannis Horn and Sebastian Houben and Sven Behnke, "Keyframe-based Photometric Online Calibration and Color Correction", In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2018.
@inproceedings{QuenzelIROS2018,
author = {Jan Quenzel and Jannis Horn and Sebastian Houben and Sven Behnke},
title = {Keyframe-based Photometric Online Calibration and Color Correction},
booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = {2018},
url = {http://ais.uni-bonn.de/papers/IROS_2018_Quenzel.pdf}
}
Michael Zollhöfer and Patrick Stotko and Andreas Görlitz and Christian Theobalt and Matthias Nießner and Reinhard Klein and Andreas Kolb, "State of the Art on 3D Reconstruction with RGB-D Cameras", In Eurographics - State-of-the-Art Reports (STARs). Vol. 37(2) 2018.
@inproceedings{Zollhoefer2018state,
author = {Zollh{\"o}fer, Michael and Stotko, Patrick and G{\"o}rlitz, Andreas and Theobalt, Christian and Nie{\ss}ner, Matthias and Klein, Reinhard and Kolb, Andreas},
title = {State of the Art on 3D Reconstruction with RGB-D Cameras},
booktitle = {Eurographics - State-of-the-Art Reports (STARs)},
year = {2018},
volume = {37},
number = {2},
url = {https://web.stanford.edu/~zollhoef/papers/EG18_RecoSTAR/paper.pdf}
}
Lasse Klingbeil and Christian Eling and Erik Heinz and Markus Wieland and Heiner Kuhlmann, "Direct Georeferencing for Portable Mapping Systems: In the Air and on the Ground", Journal of Surveying Engineering. Vol. 143(4), pp. 04017010. American Society of Civil Engineers. 2017.
@article{klingbeil2017direct,
author = {Klingbeil, Lasse and Eling, Christian and Heinz, Erik and Wieland, Markus and Kuhlmann, Heiner},
title = {Direct Georeferencing for Portable Mapping Systems: In the Air and on the Ground},
journal = {Journal of Surveying Engineering},
publisher = {American Society of Civil Engineers},
year = {2017},
volume = {143},
number = {4},
pages = {04017010}
}
F. Zimmermann and Ch. Eling and H. Kuhlmann, "Empirical assessment of obstruction adaptive elevation masks to mitigate site-dependent effects", GPS Solutions. Vol. 21(4), pp. 1695-1706. 2017.
@article{zimmermann17,
author = {Zimmermann, F. and Eling, Ch. and Kuhlmann, H.},
title = {Empirical assessment of obstruction adaptive elevation masks to mitigate site-dependent effects},
journal = {GPS Solutions},
year = {2017},
volume = {21},
number = {4},
pages = {1695--1706}
}
F. Zimmermann and C. Eling and L. Klingbeil and H. Kuhlmann, "PRECISE POSITIONING OF UAVS-DEALING WITH CHALLENGING RTK-GPS MEASUREMENT CONDITIONS DURING AUTOMATED UAV FLIGHTS.", ISPRS Annals of Photogrammetry, Remote Sensing & Spatial Information Sciences. Vol. 4 2017.
@article{zimmermann2017precise,
author = {F. Zimmermann and C. Eling and L. Klingbeil and H. Kuhlmann},
title = {PRECISE POSITIONING OF UAVS-DEALING WITH CHALLENGING RTK-GPS MEASUREMENT CONDITIONS DURING AUTOMATED UAV FLIGHTS.},
journal = {ISPRS Annals of Photogrammetry, Remote Sensing \& Spatial Information Sciences},
year = {2017},
volume = {4}
}
Marius Beul and Sebastian Houben and Matthias Nieuwenhuisen and Sven Behnke, "Fast Autonomous Landing on a Moving Target at MBZIRC", In Proceedings of European Conference on Mobile Robots (ECMR). 2017.
@inproceedings{BeulECMR2017,
author = {Marius Beul and Sebastian Houben and Matthias Nieuwenhuisen and Sven Behnke},
title = {Fast Autonomous Landing on a Moving Target at MBZIRC},
booktitle = {Proceedings of European Conference on Mobile Robots (ECMR)},
year = {2017},
url = {http://www.ais.uni-bonn.de/papers/ECMR_2017_Beul_MBZIRC_Landing.pdf}
}
Marius Beul and Sven Behnke, "Fast Full State Trajectory Generation for Multirotors", In Proceedings of International Conference on Unmanned Aircraft Systems (ICUAS). 2017.
@inproceedings{BeulICUAS2017,
author = {Marius Beul and Sven Behnke},
title = {Fast Full State Trajectory Generation for Multirotors},
booktitle = {Proceedings of International Conference on Unmanned Aircraft Systems (ICUAS)},
year = {2017},
url = {http://www.ais.uni-bonn.de/papers/ICUAS_2017_Beul_Trajectory_Generation.pdf}
}
Pau Panareda Busto and Juergen Gall, "Open Set Domain Adaptation", In International Conference on Computer Vision (ICCV)., pp. 754-763. 2017.
@inproceedings{Busto2017Open,
author = {Busto, Pau Panareda and Gall, Juergen},
title = {Open Set Domain Adaptation},
booktitle = {International Conference on Computer Vision (ICCV)},
year = {2017},
pages = {754--763},
url = {http://gall.cv-uni-bonn.de/download/jgall_opensetdomain_iccv17.pdf},
doi = {10.1109/ICCV.2017.88}
}
Martin Garbade and Juergen Gall, "Thinking Outside the Box: Spatial Anticipation of Semantic Categories", In British Machine Vision Conference (BMVC). 2017.
@inproceedings{Garbade2017Thinking,
author = {Garbade, Martin and Gall, Juergen},
title = {Thinking Outside the Box: Spatial Anticipation of Semantic Categories},
booktitle = {British Machine Vision Conference (BMVC)},
year = {2017},
url = {http://gall.cv-uni-bonn.de/download/jgall_spatialanticipation_bmvc17.pdf}
}
K.H. Huang and C. Stachniss, "Extrinsic Multi-Sensor Calibration For Mobile Robots Using the Gauss-Helmert Model", In Intelligent Robots and Systems (IROS), IEEE/RSJ Int. Conference on. 2017.
@inproceedings{huang2017iros,
author = {K.H. Huang and C. Stachniss},
title = {Extrinsic Multi-Sensor Calibration For Mobile Robots Using the Gauss-Helmert Model},
booktitle = {Intelligent Robots and Systems (IROS), IEEE/RSJ Int.\ Conference on},
year = {2017},
url = {http://www.ipb.uni-bonn.de/pdfs/huang2017iros.pdf}
}
Mengqi Ji and Juergen Gall and Haitian Zheng and Yebin Liu and Lu Fang, "SurfaceNet: An End-to-end 3D Neural Network for Multiview Stereopsis", In International Conference on Computer Vision (ICCV)., pp. 2326-2334. 2017.
@inproceedings{Ji2017SurfaceNet,
author = {Ji, Mengqi and Gall, Juergen and Zheng, Haitian and Liu, Yebin and Fang, Lu },
title = {SurfaceNet: An End-to-end 3D Neural Network for Multiview Stereopsis},
booktitle = {International Conference on Computer Vision (ICCV)},
year = {2017},
pages = {2326--2334},
url = {http://gall.cv-uni-bonn.de/download/jgall_surfacenet_iccv17.pdf},
doi = {10.1109/ICCV.2017.253}
}
Matthias Nieuwenhuisen and Marius Beul and Radu Alexandru Rosu and Jan Quenzel and Dmytro Pavlichenko and 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 Robots (ECMR). 2017.
@inproceedings{NieuwenhuisenECMR2017,
author = {Matthias Nieuwenhuisen and Marius Beul and Radu Alexandru Rosu and Jan Quenzel and Dmytro Pavlichenko and Sebastian Houben and Sven Behnke},
title = {Collaborative Object Picking and Delivery with a Team of Micro Aerial Vehicles at {MBZIRC}},
booktitle = {Proceedings of European Conference on Mobile Robots (ECMR)},
year = {2017},
url = {http://www.ais.uni-bonn.de/papers/ECMR_2017_Nieuwenhuisen_MBZIRC_Treasure_Hunt.pdf}
}
E. Palazzolo and C. Stachniss, "Change Detection in 3D Models Based on Camera Images", In 9th Workshop on Planning, Perception and Navigation for Intelligent Vehicles at the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS). 2017.
@inproceedings{palazzolo2017irosws,
author = {E. Palazzolo and C. Stachniss},
title = {Change Detection in 3D Models Based on Camera Images},
booktitle = {9th Workshop on Planning, Perception and Navigation for Intelligent Vehicles at the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS)},
year = {2017},
url = {http://www.ipb.uni-bonn.de/pdfs/palazzolo2017irosws}
}
E. Palazzolo and C. Stachniss, "Information-Driven Autonomous Exploration for a Vision-Based MAV", In ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences. 2017.
@inproceedings{palazzolo2017uavg,
author = {E. Palazzolo and C. Stachniss},
title = {Information-Driven Autonomous Exploration for a Vision-Based MAV},
booktitle = {ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences},
year = {2017},
url = {http://www.ipb.uni-bonn.de/pdfs/palazzolo2017uavg.pdf}
}
Jan Quenzel and Radu Alexandru Rosu and Sebastian Houben and Sven Behnke, "Online Depth Calibration for RGB-D Cameras using Visual SLAM", In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2017.
@inproceedings{QuenzelIROS2017,
author = {Jan Quenzel and Radu Alexandru Rosu and Sebastian Houben and Sven Behnke},
title = {Online Depth Calibration for {RGB-D} Cameras using Visual {SLAM}},
booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = {2017},
url = {http://www.ais.uni-bonn.de/papers/IROS_2017_Quenzel.pdf}
}
Johann Sawatzky and Juergen Gall, "Adaptive Binarization for Weakly Supervised Affordance Segmentation", In International Workshop on Assistive Computer Vision and Robotics., pp. 1383-1391. 2017.
@inproceedings{Sawatzky2017Adaptive,
author = {Sawatzky, Johann and Gall, Juergen},
title = {Adaptive Binarization for Weakly Supervised Affordance Segmentation},
booktitle = {International Workshop on Assistive Computer Vision and Robotics},
year = {2017},
pages = {1383--1391},
url = {http://gall.cv-uni-bonn.de/download/jgall_weakaffordance_acvr17.pdf},
doi = {10.1109/ICCVW.2017.164}
}
Johann Sawatzky and Abhilash Srikantha and Juergen Gall, "Weakly Supervised Affordance Detection", In IEEE Conference on Computer Vision and Pattern Recognition (CVPR)., pp. 5197-5206. 2017.
@inproceedings{Sawatzky2017Weakly,
author = {Sawatzky, Johann and Srikantha, Abhilash and Gall, Juergen},
title = {Weakly Supervised Affordance Detection},
booktitle = {IEEE Conference on Computer Vision and Pattern Recognition (CVPR)},
year = {2017},
pages = {5197--5206},
url = {http://gall.cv-uni-bonn.de/download/jgall_affordancedetection_cvpr17.pdf},
doi = {10.1109/CVPR.2017.552}
}
J. Schneider and C. Stachniss and W. Förstner, "On the Quality and Efficiency of Approximate Solutions to Bundle Adjustment with Epipolar and Trifocal Constraints", In ISPRS Annals of Photogrammetry, Remote Sensing and Spatial Information Sciences. Vol. IV-2/W3, pp. 81-88. 2017.
Bundle adjustment is a central part of most visual SLAM and Structure from Motion systems and thus a relevant component of UAVs equipped with cameras. This paper makes two contributions to bundle adjustment. First, we present a novel approach which exploits trifocal constraints, i.e., constraints resulting from corresponding points observed in three camera images, which allows to estimate the camera pose parameters without 3D point estimation. Second, we analyze the quality loss compared to the optimal bundle adjustment solution when applying different types of approximations to the constrained optimization problem to increase efficiency. We implemented and thoroughly evaluated our approach using a UAV performing mapping tasks in outdoor environments. Our results indicate that the complexity of the constraint bundle adjustment can be decreased without loosing too much accuracy.
@inproceedings{schneider17uavg,
author = {J. Schneider and C. Stachniss and W. F\"orstner},
title = {On the Quality and Efficiency of Approximate Solutions to Bundle Adjustment with Epipolar and Trifocal Constraints},
booktitle = {ISPRS Annals of Photogrammetry, Remote Sensing and Spatial Information Sciences},
year = {2017},
volume = {IV-2/W3},
pages = {81-88},
url = {https://www.isprs-ann-photogramm-remote-sens-spatial-inf-sci.net/IV-2-W3/81/2017/isprs-annals-IV-2-W3-81-2017.pdf},
doi = {10.5194/isprs-annals-IV-2-W3-81-2017}
}
O. Vysotska and C. Stachniss, "Relocalization under Substantial Appearance Changes using Hashing", In IROS Workshop on Planning, Perception and Navigation for Intelligent Vehicles. 2017.
@inproceedings{vysotska2017irosws,
author = {O. Vysotska and C. Stachniss},
title = {Relocalization under Substantial Appearance Changes using Hashing},
booktitle = {IROS Workshop on Planning, Perception and Navigation for Intelligent Vehicles},
year = {2017},
url = {http://www.ipb.uni-bonn.de/pdfs/vysotska2017irosws.pdf}
}
Youness Dehbi and Gerhard Gröger and Lutz Plümer, "Identification and Modelling of Translational and Axial Symmetries and their Hierarchical Structures in Building Footprints by Formal Grammars", Transactions in GIS., pp. n/a-n/a. 2016.
@article{Dehbi2015Identification,
author = {Dehbi, Youness and Gr\"oger, Gerhard and Pl\"umer, Lutz},
title = {Identification and Modelling of Translational and Axial Symmetries and their Hierarchical Structures in Building Footprints by Formal Grammars},
journal = {Transactions in GIS},
year = {2016},
pages = {n/a--n/a},
url = {http://dx.doi.org/10.1111/tgis.12177},
doi = {10.1111/tgis.12177}
}
David Droeschel and Matthias Nieuwenhuisen and Marius Beul and Dirk Holz and Joerg Stueckler and Sven Behnke, "Multi-Layered Mapping and Navigation for Autonomous Micro Aerial Vehicles", Journal of Field Robotics (JFR). Vol. 33(4), pp. 451-475. 2016.
@article{DroeschelJFR2016,
author = {David Droeschel and Matthias Nieuwenhuisen and Marius Beul and Dirk Holz and Joerg Stueckler and Sven Behnke},
title = {Multi-Layered Mapping and Navigation for Autonomous Micro Aerial Vehicles},
journal = {Journal of Field Robotics (JFR)},
year = {2016},
volume = {33},
number = {4},
pages = {451-475},
url = {http://www.ais.uni-bonn.de/papers/JFR_2016_Autonomous_MAV.pdf}
}
Matthias Nieuwenhuisen and David Droeschel and Marius Beul and Sven Behnke, "Autonomous Navigation for Micro Aerial Vehicles in Complex GNSS-denied Environments", Journal of Intelligent & Robotic Systems., Dec, 2016. Vol. 84(1), pp. 199-216. 2016.
@article{NieuwenhuisenJINT2016,
author = {Matthias Nieuwenhuisen and David Droeschel and Marius Beul and Sven Behnke},
title = {Autonomous Navigation for Micro Aerial Vehicles in Complex {GNSS}-denied Environments},
journal = {Journal of Intelligent {\&} Robotic Systems},
year = {2016},
volume = {84},
number = {1},
pages = {199--216},
url = {http://www.ais.uni-bonn.de/papers/JINT_2015_Nieuwenhuisen.pdf},
doi = {10.1007/s10846-015-0274-3}
}
Sebastian Ochmann and Richard Vock and Raoul Wessel and Reinhard Klein, "Automatic reconstruction of parametric building models from indoor point clouds", Computers & Graphics. Vol. 54, pp. 94-103. Elsevier. 2016.
@article{ochmann2016automatic,
author = {Ochmann, Sebastian and Vock, Richard and Wessel, Raoul and Klein, Reinhard},
title = {Automatic reconstruction of parametric building models from indoor point clouds},
journal = {Computers \& Graphics},
publisher = {Elsevier},
year = {2016},
volume = {54},
pages = {94--103},
url = {https://www.sciencedirect.com/science/article/pii/S0097849315001119/pdfft?md5=6f4794b71c216738f77415372e54db79&pid=1-s2.0-S0097849315001119-main.pdf}
}
Marko Ristin and Matthieu Guillaumin and Juergen Gall and Luc Van Gool, "Incremental Learning of Random Forests for Large-Scale Image Classification", IEEE Transactions on Pattern Analysis and Machine Intelligence. Vol. 38(3), pp. 490-503. 2016.
@article{Ristin2016Incremental,
author = {Ristin, Marko and Guillaumin, Matthieu and Gall, Juergen and Van Gool, Luc},
title = {Incremental Learning of Random Forests for Large-Scale Image Classification},
journal = {IEEE Transactions on Pattern Analysis and Machine Intelligence},
year = {2016},
volume = {38},
number = {3},
pages = {490--503},
url = {http://gall.cv-uni-bonn.de/download/jgall_incrementalforest_pami15.pdf},
doi = {10.1109/TPAMI.2015.2459678}
}
J. Schneider and C. Stachniss and W. Förstner, "On the Accuracy of Dense Fisheye Stereo", IEEE Robotics and Automation Letters (RA-L)and IEEE International Conference on Robotics & Automation (ICRA). Vol. 1(1), pp. 227-234. 2016.
Fisheye cameras offer a large field of view, which is important for several robotics applications as a larger field of view allows for covering a large area with a single image. In contrast to classical cameras, however, fisheye cameras cannot be approximated well using the pinhole camera model and this renders the computation of depth information from fisheye stereo image pairs more complicated. In this work, we analyze the combination of an epipolar rectification model for fisheye stereo cameras with existing dense methods. This has the advantage that existing dense stereo systems can be applied as a black-box even with cameras that have field of view of more than 180 deg to obtain dense disparity information. We thoroughly investigate the accuracy potential of such fisheye stereo systems using image data from our UAV. The empirical analysis is based on image pairs of a calibrated fisheye stereo camera system and two state-of-the-art algorithms for dense stereo applied to adequately rectified image pairs from fisheye stereo cameras. The canonical stochastic model for sensor points assumes homogeneous uncertainty and we generalize this model based on an empirical analysis using a test scene consisting of mutually orthogonal planes. We show (1) that the combination of adequately rectified fisheye image pairs and dense methods provides dense 3D point clouds at 6-7 Hz on our autonomous multi-copter UAV, (2) that the uncertainty of points depends on their angular distance from the optical axis, (3) how to estimate the variance component as a function of that distance, and (4) how the improved stochastic model improves the accuracy of the scene points.
@article{schneider16ral,
author = {J. Schneider and C. Stachniss and W. F\"orstner},
title = {On the Accuracy of Dense Fisheye Stereo},
journal = {IEEE Robotics and Automation Letters (RA-L)and IEEE International Conference on Robotics \& Automation (ICRA)},
year = {2016},
volume = {1},
number = {1},
pages = {227-234},
url = {http://www.ipb.uni-bonn.de/pdfs/schneider16ral.pdf},
doi = {10.1109/LRA.2016.2516509}
}
Youness Dehbi and Christiane Staat and Leonard Mandtler and Lutz Plümer, "Incremental Refinement of Facade Models with Attribute Grammar from 3D Point Clouds", In ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences. 2016.
@conference{dehbi2016incremental,
author = {Youness Dehbi and Christiane Staat and Leonard Mandtler and Lutz Pl\"umer},
title = {Incremental Refinement of Facade Models with Attribute Grammar from 3D Point Clouds},
booktitle = {ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences},
year = {2016}
}
Heiner Kuhlmann and Lasse Klingbeil, "Mobile Multisensorsysteme", Handbuch der Geodäsie: 5 Bände., pp. 1-36. Springer Berlin Heidelberg. 2016.
@inbook{kuhlmann2016mobile,
author = {Kuhlmann, Heiner and Klingbeil, Lasse},
title = {Mobile Multisensorsysteme},
journal = {Handbuch der Geod{\"a}sie: 5 B{\"a}nde},
publisher = {Springer Berlin Heidelberg},
year = {2016},
pages = {1--36}
}
C Eling and L Klingbeil and M Wieland and H Kuhlmann, "Towards deformation monitoring with uav-based mobile mapping systems", In Proc., 3rd Joint Int. Symp. on Deformation Monitoring (JISDM), TU Wien, Vienna. 2016.
@inproceedings{eling2016towards,
author = {Eling, C and Klingbeil, L and Wieland, M and Kuhlmann, H},
title = {Towards deformation monitoring with uav-based mobile mapping systems},
booktitle = {Proc., 3rd Joint Int. Symp. on Deformation Monitoring (JISDM), TU Wien, Vienna},
year = {2016}
}
Sebastian Houben and Jan Quenzel and Nicola Krombach and Sven Behnke, "Efficient Multi-Camera Visual-Inertial SLAM for Micro Aerial Vehicles", In Intelligent Robots and Systems (IROS), IEEE/RSJ Int. Conference on. 2016.
@inproceedings{HoubenIROS2016,
author = {Sebastian Houben and Jan Quenzel and Nicola Krombach and Sven Behnke},
title = {Efficient Multi-Camera Visual-Inertial {SLAM} for Micro Aerial Vehicles},
booktitle = {Intelligent Robots and Systems (IROS), IEEE/RSJ Int.\ Conference on},
year = {2016},
url = {http://www.ais.uni-bonn.de/papers/IROS_2016_Houben.pdf}
}
Matthias Nieuwenhuisen and Sven Behnke, "Local Multiresolution Trajectory Optimization for Micro Aerial Vehicles Employing Continuous Curvature Transitions", In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2016.
@inproceedings{NieuwenhuisenIROS2016,
author = {Matthias Nieuwenhuisen and Sven Behnke},
title = {Local Multiresolution Trajectory Optimization for Micro Aerial Vehicles Employing Continuous Curvature Transitions},
booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = {2016},
url = {http://www.ais.uni-bonn.de/papers/IROS_2016_Nieuwenhuisen.pdf}
}
J. Schneider and C. Eling and L. Klingbeil and H. Kuhlmann and W. Förstner and C. Stachniss, "Fast and Effective Online Pose Estimation and Mapping for UAVs", In Proceedings of the IEEE Int. Conf. on Robotics & Automation (ICRA)., pp. 4784-4791. 2016.
Online pose estimation and mapping in unknown environments is essential for most mobile robots. Especially autonomous unmanned aerial vehicles require good pose estimates at comparably high frequencies. In this paper, we propose an effective system for online pose and simultaneous map estimation designed for light-weight UAVs. Our system consists of two components: (1) real-time pose estimation combining RTK-GPS and IMU at 100 Hz and (2) an effective SLAM solution running at 10 Hz using image data from an omnidirectional multi-fisheye-camera system. The SLAM procedure combines spatial resection computed based on the map that is incrementally refined through bundle adjustment and combines the image data with raw GPS observations and IMU data on keyframes. The overall system yields a real-time, georeferenced pose at 100 Hz in GPS-friendly situations. Additionally, we obtain a precise pose and feature map at 10 Hz even in cases where the GPS is not observable or underconstrained. Our system has been implemented and thoroughly tested on a 5 kg copter and yields accurate and reliable pose estimation at high frequencies. We compare the point cloud obtained by our method with a model generated from georeferenced terrestrial laser scanner.
@inproceedings{schneider16icra,
author = {J. Schneider and C. Eling and L. Klingbeil and H. Kuhlmann and W. F\"orstner and C. Stachniss},
title = {Fast and Effective Online Pose Estimation and Mapping for UAVs},
booktitle = {Proceedings of the IEEE Int. Conf. on Robotics \& Automation (ICRA)},
year = {2016},
pages = {4784--4791},
url = {http://www.ipb.uni-bonn.de/pdfs/schneider16icra.pdf},
doi = {10.1109/ICRA.2016.7487682}
}
Rasha Sheikh and Martin Garbade and Juergen Gall, "Real-time Semantic Segmentation with Label Propagation", In Workshop on Computer Vision for Road Scene Understanding and Autonomous Driving, LNCS 9914. 2016.
@inproceedings{Sheikh2016Realtime,
author = {Sheikh, Rasha and Garbade, Martin and Gall, Juergen},
title = {Real-time Semantic Segmentation with Label Propagation},
booktitle = {Workshop on Computer Vision for Road Scene Understanding and Autonomous Driving, LNCS 9914},
year = {2016},
url = {http://gall.cv-uni-bonn.de/download/jgall_realtimesegmentation_cvrsuad16.pdf},
doi = {10.1007/978-3-319-48881-3_1}
}
Youness Dehbi and Fabian Hadiji and Gerhard Gröger and Kristian Kersting and Lutz Plümer, "Statistical Relational Learning of Grammar Rules for 3D Building Reconstruction", Transactions in GIS. 2015.
@article{Dehbi2015Statistical,
author = {Dehbi, Youness and Hadiji, Fabian and Gr{\"o}ger, Gerhard and Kersting, Kristian and Pl{\"u}mer, Lutz},
title = {Statistical Relational Learning of Grammar Rules for 3D Building Reconstruction},
journal = {Transactions in GIS},
year = {2015}
}
C Eling and M Wieland and C Hess and L Klingbeil and H Kuhlmann, "Development and Evaluation of a UAV based Mapping System for Remote Sensing and Surveying Applications.", International Archives of the Photogrammetry, Remote Sensing & Spatial Information Sciences. Vol. 40 2015.
@article{eling2015development,
author = {Eling, C and Wieland, M and Hess, C and Klingbeil, L and Kuhlmann, H},
title = {Development and Evaluation of a UAV based Mapping System for Remote Sensing and Surveying Applications.},
journal = {International Archives of the Photogrammetry, Remote Sensing \& Spatial Information Sciences},
year = {2015},
volume = {40}
}
Christian Eling and Lasse Klingbeil and Heiner Kuhlmann, "Real-Time Single-Frequency GPS/MEMS-IMU Attitude Determination of Lightweight UAVs", Sensors. Vol. 15(10), pp. 26212-26235. Multidisciplinary Digital Publishing Institute. 2015.
@article{eling2015real,
author = {Eling, Christian and Klingbeil, Lasse and Kuhlmann, Heiner},
title = {Real-Time Single-Frequency GPS/MEMS-IMU Attitude Determination of Lightweight UAVs},
journal = {Sensors},
publisher = {Multidisciplinary Digital Publishing Institute},
year = {2015},
volume = {15},
number = {10},
pages = {26212--26235}
}
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. 2015.
@article{HolzRAS2015,
author = {Dirk Holz and Sven Behnke},
title = {Registration of Non-Uniform Density {3D} Laser Scans for Mapping with Micro Aerial Vehicles},
journal = {Robotics and Autonomous Systems},
year = {2015},
volume = {74},
pages = {318 - 330},
url = {http://www.ais.uni-bonn.de/papers/RAS_2015_Holz.pdf},
doi = {10.1016/j.robot.2015.07.021}
}
Sandra Loch-Dehbi and Lutz Plümer, "Predicting building façade structures with multilinear Gaussian graphical models based on few observations", Computer, Environment and Urban Systems. Vol. 54, pp. 68-81. 2015.
@article{Loch-Dehbi2015Predicting,
author = {Loch-Dehbi, Sandra and Pl{\"u}mer, Lutz},
title = {Predicting building façade structures with multilinear Gaussian graphical models based on few observations},
journal = {Computer, Environment and Urban Systems},
year = {2015},
volume = {54},
pages = {68--81},
doi = {10.1016/j.compenvurbsys.2015.05.004}
}
Pau Panareda Busto and Joerg Liebelt and Juergen Gall, "Adaptation of Synthetic Data for Coarse-to-Fine Viewpoint Refinement", In British Machine Vision Conference (BMVC). 2015.
@inproceedings{Busto2015Adaption,
author = {Busto, Pau Panareda and Liebelt, Joerg and Gall, Juergen},
title = {Adaptation of Synthetic Data for Coarse-to-Fine Viewpoint Refinement},
booktitle = {British Machine Vision Conference (BMVC)},
year = {2015},
url = {http://gall.cv-uni-bonn.de/download/jgall_adaptview_bmvc15.pdf},
doi = {10.5244/C.29.14}
}
Tim Golla and Reinhard Klein, "Real-time Point Cloud Compression", In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2015.
With today's advanced 3D scanner technology, huge amounts of point cloud data
can be generated in short amounts of time. Data compression is thus necessary
for storage and especially for transmission, e.g., via wireless networks. While
previous approaches delivered good compression ratios and interesting
theoretical insights, they are either computationally expensive or do not
support incrementally acquired data and locally decompressing the data, two
requirements we found necessary in many applications. We present a compression
approach that is efficient in storage requirements as well as in computational
cost, as it can compress and decompress point cloud data in real-time.
Furthermore, it is capable of compressing incrementally acquired data, local
decompression and of decompressing a subsampled representation of the original
data. Our method is based on local 2D parameterizations of surface point cloud
data, for which we describe an efficient approach. We suggest the usage of
standard image compression techniques for the compression of local details.
While exhibiting state-of-the-art compression ratios, our approach remains easy
to implement. In our evaluation, we compare our approach to previous ones and
discuss the choice of parameters. Due to our algorithm's efficiency, we consider
it as a reference concerning speed and compression rates.
@inproceedings{Golla.2015,
author = {Golla, Tim and Klein, Reinhard},
title = {Real-time Point Cloud Compression},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = {2015},
url = {http://cg.cs.uni-bonn.de/aigaion2root/attachments/GollaIROS2015_authorsversion.pdf}
}
Nicola Krombach and David Droeschel and Sven Behnke, "Evaluation of Stereo Algorithms for Obstacle Detection with Fisheye Lenses", In Procedings of 3rd International Conference on Unmanned Aerial Vehicles in Geomatics (UAV-g). 2015.
@inproceedings{KrombachUAVg2015,
author = {Nicola Krombach and David Droeschel and Sven Behnke},
title = {Evaluation of Stereo Algorithms for Obstacle Detection with Fisheye Lenses},
booktitle = {Procedings of 3rd International Conference on Unmanned Aerial Vehicles in Geomatics (UAV-g)},
year = {2015},
url = {http://www.ais.uni-bonn.de/papers/UAV-g_2015_Krombach.pdf}
}
Marko Ristin and Juergen Gall and Matthieu Guillaumin and Luc Van Gool, "From Categories to Subcategories: Large-Scale Image Classification With Partial Class Label Refinement", In The IEEE Conference on Computer Vision and Pattern Recognition (CVPR). 2015.
@inproceedings{Ristin_2015_CVPR,
author = {Ristin, Marko and Gall, Juergen and Guillaumin, Matthieu and Van Gool, Luc},
title = {From Categories to Subcategories: Large-Scale Image Classification With Partial Class Label Refinement},
booktitle = {The IEEE Conference on Computer Vision and Pattern Recognition (CVPR)},
year = {2015}
}
Fabian Aiteanu and Reinhard Klein, "Hybrid tree reconstruction from inhomogeneous point clouds", The Visual Computer., To appear in Special Issue for CGI 2014 of The Visual Computer. Vol. 30(6-8), pp. 763-771. Springer Berlin Heidelberg. 2014.
@article{aiteanu2014,
author = {Aiteanu, Fabian and Klein, Reinhard},
title = {Hybrid tree reconstruction from inhomogeneous point clouds},
journal = {The Visual Computer},
publisher = {Springer Berlin Heidelberg},
year = {2014},
volume = {30},
number = {6-8},
pages = {763-771},
doi = {10.1007/s00371-014-0977-7}
}
David Droeschel and Dirk Holz and Sven Behnke, "Omnidirectional Perception for Lightweight MAVs using a Continously Rotationg 3D Laser Scanner", Photogrammetrie Fernerkundung Geoinformation. 2014.
@article{Droeschel_PFG2014,
author = {David Droeschel and Dirk Holz and Sven Behnke},
title = {Omnidirectional Perception for Lightweight MAVs using a Continously Rotationg 3D Laser Scanner},
journal = {Photogrammetrie Fernerkundung Geoinformation},
year = {2014},
note = {to appear}
}
Christian Eling and Lasse Klingbeil and Markus Wieland and Heiner Kuhlmann, "Direct Georeferencing of Micro Aerial Vehicles - System Design, System Calibration and First Evaluation Tests", PFG - Photogrammetrie, Fernerkundung, Geoinformation. Vol. 4, pp. 227-237. 2014.
@article{eling*14:pfg,
author = {Eling, Christian and Klingbeil, Lasse and Wieland, Markus and Kuhlmann, Heiner},
title = {Direct Georeferencing of Micro Aerial Vehicles - System Design, System Calibration and First Evaluation Tests},
journal = {PFG - Photogrammetrie, Fernerkundung, Geoinformation},
year = {2014},
volume = {4},
pages = {227--237}
}
Lasse Klingbeil and Christian Eling and Florian Zimmermann and Heiner Kuhlmann, "Magnetic Field Sensor Calibration for Attitude Determination", Journal of Applied Geodesy. Vol. Band 8, Heft 2, ISSN (Online) 1862-9024, ISSN (Print) 1862-9016, DOI: 10.1515/jag-2014-0003, pp. 97 -108. 2014.
@article{klingbeil*14:magnetic,
author = {Klingbeil, Lasse and Eling, Christian and Zimmermann, Florian and Kuhlmann, Heiner},
title = {Magnetic Field Sensor Calibration for Attitude Determination},
journal = {Journal of Applied Geodesy},
year = {2014},
volume = {Band 8, Heft 2, ISSN (Online) 1862-9024, ISSN (Print) 1862-9016, DOI: 10.1515/jag-2014-0003},
pages = {97 --108},
doi = {10.1515/jag-2014-0003}
}
Lasse Klingbeil and Heiner Kuhlmann, "Sensoren für kinematische Anwendungen", Allgemeine Vermessungsnachrichten. Vol. 5/2014, Wichmann Verlag, Berlin, pp. 186-191. 2014.
@article{klingbeil*14:sensoren,
author = {Klingbeil, Lasse and Kuhlmann, Heiner},
title = {Sensoren f{\"u}r kinematische {A}nwendungen},
journal = {Allgemeine Vermessungsnachrichten},
year = {2014},
volume = {5/2014, Wichmann Verlag, Berlin},
pages = {186--191}
}
Marius Beul and 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), München. 2014.
@inproceedings{Beul_Robotik2014:PositionControl,
author = {Marius Beul and Rainer Worst and Sven Behnke},
title = {Nonlinear Model-based Position Control for Quadrotor {UAVs}},
booktitle = {Proceedings of Joint 45th International Symposium on Robotics (ISR) and 8th German Conference on Robotics (ROBOTIK), M{\"u}nchen},
year = {2014}
}
David Droeschel and Jörg Stückler and Sven Behnke, "Local Multi-Resolution Surfel Grids for MAV Motion Estimation and 3D Mapping", In Proc. of 13th Int. Conf. on Intelligent Autonomous Systems (IAS)., July, 2014. 2014.
@inproceedings{droeschel:IAS2014,
author = {David Droeschel and J\"org St\"uckler and Sven Behnke},
title = {Local Multi-Resolution Surfel Grids for MAV Motion Estimation and 3D Mapping},
booktitle = {Proc.\ of 13th Int.\ Conf.\ on Intelligent Autonomous Systems (IAS)},
year = {2014}
}
David Droeschel and Jörg Stückler and Sven Behnke, "Local Multiresolution Representation for 6D Motion Estimation and Mapping with a Continuously Rotating 3D Laser Scanner", In Proc. of IEEE Int. Conf. on Robotics and Automation (ICRA). 2014.
@inproceedings{droeschel:ICRA2014,
author = {David Droeschel and J\"org St\"uckler and Sven Behnke},
title = {Local Multiresolution Representation for {6D} Motion Estimation and Mapping with a Continuously Rotating {3D} Laser Scanner},
booktitle = {Proc.\ of IEEE Int.\ Conf.\ on Robotics and Automation (ICRA)},
year = {2014}
}
David Droeschel and Sven Behnke, "3D Local Multiresolution Grid for Aggregation of Omnidirectional Distance Measurements on a Micro Aerial Vehicle", In Proc. of Joint 45th Int. Symp. on Robotics (ISR) and 8th German Conf. on Robotics (ROBOTIK). 2014.
@inproceedings{droeschel:Robotik2014,
author = {David Droeschel and Sven Behnke},
title = {{3D} Local Multiresolution Grid for Aggregation of Omnidirectional Distance Measurements on a Micro Aerial Vehicle},
booktitle = {Proc.\ of Joint 45th Int.\ Symp.\ on Robotics (ISR) and 8th German Conf.\ on Robotics (ROBOTIK)},
year = {2014}
}
Christian Eling and Lasse Klingbeil and Heiner Kuhlmann, "Development of an RTK-GPS System for Precise Real-time Positioning of Lightweight UAVs", In Beiträge zum 17. Internationalen Ingenieurvermessungskurs, Zürich., pp. 111-123. 2014.
@inproceedings{eling*14:development,
author = {Eling, Christian and Klingbeil, Lasse and Kuhlmann, Heiner},
title = {Development of an {RTK}-{GPS} System for Precise Real-time Positioning of Lightweight {UAV}s},
booktitle = {Beitr{\"a}ge zum 17. Internationalen Ingenieurvermessungskurs, Z{\"u}rich},
year = {2014},
pages = {111--123}
}
Tim Golla and Christopher Schwartz and Reinhard Klein, "Towards Efficient Online Compression of Incrementally Acquired Point Clouds", In Vision, Modeling & Visualization. The Eurographics Association. 2014.
@inproceedings{Golla.2014,
author = {Golla, Tim and Schwartz, Christopher and Klein, Reinhard},
title = {Towards Efficient Online Compression of Incrementally Acquired Point Clouds},
booktitle = {Vision, Modeling {\&} Visualization},
publisher = {{The Eurographics Association}},
year = {2014}
}
Dirk Holz and Sven Behnke, "Mapping with Micro Aerial Vehicles by Registration of Sparse 3D Laser Scans", In Proc. of 13th Int. Conf. on Intelligent Autonomous Systems (IAS)., July, 2014. 2014.
@inproceedings{holz:IAS2014,
author = {Dirk Holz and Sven Behnke},
title = {Mapping with Micro Aerial Vehicles by Registration of Sparse {3D} Laser Scans},
booktitle = {Proc.\ of 13th Int.\ Conf.\ on Intelligent Autonomous Systems (IAS)},
year = {2014}
}
Dirk Holz and Sven Behnke, "Registration of Non-Uniform Density 3D Point Clouds using Approximate Surface Reconstruction", In Proc. of Joint 45th Int. Symp. on Robotics (ISR) and 8th German Conf. on Robotics (ROBOTIK). 2014.
@inproceedings{holz:Robotik2014,
author = {Dirk Holz and Sven Behnke},
title = {Registration of Non-Uniform Density {3D} Point Clouds using Approximate Surface Reconstruction},
booktitle = {Proc.\ of Joint 45th Int.\ Symp.\ on Robotics (ISR) and 8th German Conf.\ on Robotics (ROBOTIK)},
year = {2014}
}
Lasse Klingbeil and Matthias Nieuwenhuisen and Johannes Schneider and Christian Eling and David Droeschel and Dirk Holz and Thomas Läbe and Wolfgang Förstner and 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 2014.
@inproceedings{Klingbeil:MCG2014,
author = {Lasse Klingbeil and Matthias Nieuwenhuisen and Johannes Schneider and Christian Eling and David Droeschel and Dirk Holz and Thomas L\"abe and Wolfgang F\"orstner and Sven Behnke and Heiner Kuhlmann},
title = {Towards Autonomous Navigation of an {UAV}-based Mobile Mapping System},
booktitle = {Proceedings of 4th International Conference on Machine Control \& Guidance (MCG)},
year = {2014}
}
Matthias Nieuwenhuisen and Sven Behnke, "Layered Mission and Path Planning for MAV Navigation with Partial Environment Knowledge", In Proceedings of 13th International Conference on Intelligent Autonomous Systems (IAS). Padova, Italy 2014.
@inproceedings{Nieuwenhuisen:IAS2014,
author = {Matthias Nieuwenhuisen and Sven Behnke},
title = {Layered Mission and Path Planning for MAV Navigation with Partial Environment Knowledge},
booktitle = {Proceedings of 13th International Conference on Intelligent Autonomous Systems (IAS)},
year = {2014}
}
Matthias Nieuwenhuisen and Marius Beul and David Droeschel and Sven Behnke, "Obstacle Detection, Navigation Planning, and Motion Control for Autonomous Micro Aerial Vehicles", In Proceedings of International Conference on Unmanned Aircraft Systems (ICUAS). Orlando, USA 2014.
@inproceedings{Nieuwenhuisen:ICUAS2014,
author = {Matthias Nieuwenhuisen and Marius Beul and David Droeschel and Sven Behnke},
title = {Obstacle Detection, Navigation Planning, and Motion Control for Autonomous Micro Aerial Vehicles},
booktitle = {Proceedings of International Conference on Unmanned Aircraft Systems (ICUAS)},
year = {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). München 2014.
@inproceedings{Nieuwenhuisen:Robotik2014,
author = {Matthias Nieuwenhuisen and Sven Behnke},
title = {Hierarchical Planning with {3D} Local Multiresolution Obstacle Avoidance for Micro Aerial Vehicles},
booktitle = {Proceedings of Joint 45th International Symposium on Robotics (ISR) and 8th German Conference on Robotics (ROBOTIK)},
year = {2014}
}
Sebastian Ochmann and Richard Vock and Raoul Wessel and Martin Tamke and Reinhard Klein, "Automatic Generation of Structural Building Descriptions from 3D Point Cloud Scans", In GRAPP 2014 - International Conference on Computer Graphics Theory and Applications., January, 2014. SCITEPRESS. 2014.
We present a new method for automatic semantic structuring of 3D point clouds representing buildings. In contrast to existing approaches which either target the outside appearance like the facade structure or rather low-level geometric structures, we focus on the building's interior using indoor scans to derive high-level architectural entities like rooms and doors. Starting with a registered 3D point cloud, we probabilistically model the affiliation of each measured point to a certain room in the building. We solve the resulting clustering problem using an iterative algorithm that relies on the estimated visibilities between any two locations within the point cloud. With the segmentation into rooms at hand, we subsequently determine the locations and extents of doors between adjacent rooms. In our experiments, we demonstrate the feasibility of our method by applying it to synthetic as well as to real-world data.
@inproceedings{ochmann_2014,
author = {Ochmann, Sebastian and Vock, Richard and Wessel, Raoul and Tamke, Martin and Klein, Reinhard},
title = {Automatic Generation of Structural Building Descriptions from 3D Point Cloud Scans},
booktitle = {GRAPP 2014 - International Conference on Computer Graphics Theory and Applications},
publisher = {SCITEPRESS},
year = {2014}
}
Sebastian Ochmann and Richard Vock and Raoul Wessel and Reinhard Klein, "Towards the Extraction of Hierarchical Building Descriptions from 3D Indoor Scans", In EUROGRAPHICS Workshop on 3D Object Retrieval (3DOR 2014)., April, 2014. 2014.
We present a new method for the hierarchical decomposition of 3D indoor scans and the subsequent generation of an according hierarchical graph-based building descriptor. The hierarchy consists of four basic levels with according entities, building - storey - room - object. All entities are represented as attributed nodes in a graph and are linked to the upper level entity they are located in. Additionally, nodes of the same level are linked depending on their spatial and topological relationship. The hierarchical description enables easy navigation in the formerly unstructured data, measurement takings, as well as carrying out retrieval tasks that incorporate geometric, topological, and also functional building properties describing e.g. the designated use of single rooms according to the objects it contains. In contrast to previous methods which either focus on the segmentation into rooms or on the recognition of indoor objects, our holistic approach incorporates a rather large spectrum of entities on different semantic levels that are inherent to 3D building representations. In our evaluation we show the feasibility of our method for extraction of hierarchical building descriptions for various tasks using real-world data.
@inproceedings{ochmann_2014_towards,
author = {Ochmann, Sebastian and Vock, Richard and Wessel, Raoul and Klein, Reinhard},
title = {Towards the Extraction of Hierarchical Building Descriptions from 3D Indoor Scans},
booktitle = {EUROGRAPHICS Workshop on 3D Object Retrieval (3DOR 2014)},
year = {2014}
}
J. Schneider and W. Förstner, "Real-time Accurate Geo-localization of a MAV with Omnidirectional Visual Odometry and GPS", In Computer Vision - ECCV 2014 Workshops., pp. 271-282. 2014.
This paper presents a system for direct geo-localization of a MAV in an unknown environment using visual odometry and precise real time kinematic (RTK) GPS information. Visual odometry is performed with a multi-camera system with four fisheye cameras that cover a wide field of view which leads to better constraints for localization due to long tracks and a better intersection geometry. Visual observations from the acquired image sequences are refined with a high accuracy on selected keyframes by an incremental bundle adjustment using the iSAM2 algorithm. The optional integration of GPS information yields long-time stability and provides a direct geo-referenced solution. Experiments show the high accuracy which is below 3 cm standard deviation in position.
@inproceedings{schneider14eccv-ws,
author = {J. Schneider and W. F\"orstner},
title = {Real-time Accurate Geo-localization of a MAV with Omnidirectional Visual Odometry and GPS},
booktitle = {Computer Vision - ECCV 2014 Workshops},
year = {2014},
pages = {271--282},
url = {http://www.ipb.uni-bonn.de/pdfs/schneider14eccv-ws.pdf},
doi = {10.1007/978-3-319-16178-5_18}
}
F. Steinbruecker and J. Sturm and D. Cremers, "Volumetric 3D Mapping in Real-Time on a CPU", In Proceedings of the IEEE Int. Conf. on Robotics & Automation (ICRA). Hongkong, China 2014.
@inproceedings{Steinbruecker-etal-icra14,
author = {F. Steinbruecker and J. Sturm and D. Cremers},
title = {Volumetric 3D Mapping in Real-Time on a CPU},
booktitle = {Proceedings of the IEEE Int. Conf. on Robotics \& Automation (ICRA)},
year = {2014}
}
Christian Eling and Lasse Klingbeil and Markus Wieland and Heiner Kuhlmann, "A precise position and attitude determination system for leightweight unmanned aerial vehicles", ISPRS - International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences. Vol. XL-1/W2, pp. 113-118. 2013.
@article{eling*13:precise,
author = {Eling, Christian and Klingbeil, Lasse and Wieland, Markus and Kuhlmann, Heiner},
title = {A precise position and attitude determination system for leightweight unmanned aerial vehicles},
journal = {ISPRS - International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences},
year = {2013},
volume = {XL-1/W2},
pages = {113--118},
doi = {10.5194/isprsarchives-XL-1-W2-113-2013}
}
André Henn and Gerhard Gröger and Viktor Stroh and Lutz Plümer, "Model driven reconstruction of roofs from sparse LIDAR point clouds", ISPRS Journal of Photogrammetry and Remote Sensing. Vol. 76(0), pp. 17-29. 2013.
@article{Henn201317,
author = {Andr\'{e} Henn and Gerhard Gr\"oger and Viktor Stroh and Lutz Pl\"umer},
title = {Model driven reconstruction of roofs from sparse {LIDAR} point clouds},
journal = {{ISPRS} Journal of Photogrammetry and Remote Sensing},
year = {2013},
volume = {76},
number = {0},
pages = {17-29},
doi = {10.1016/j.isprsjprs.2012.11.004}
}
J. Schneider and W. Förstner, "Bundle Adjustment and System Calibration with Points at Infinity for Omnidirectional Camera Systems", Z. f. Photogrammetrie, Fernerkundung und Geoinformation. Vol. 4, pp. 309-321. 2013.
@article{schneider*13:bundle,
author = {Schneider, J. and F\"orstner, W.},
title = {Bundle Adjustment and System Calibration with Points at Infinity for Omnidirectional Camera Systems},
journal = {Z. f. Photogrammetrie, Fernerkundung und Geoinformation},
year = {2013},
volume = {4},
pages = {309--321},
url = {http://www.dgpf.de/pfg/2013/pfg2013_4_schneider.pdf},
doi = {10.1127/1432-8364/2013/0179}
}
Sandra Loch-Dehbi and Youness Dehbi and Lutz Plümer, "Stochastic reasoning for uav supported reconstruction of 3D building models", In International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences. Vol. XL-1/W2, pp. 257-261. 2013.
@conference{loch2013,
author = {Sandra Loch-Dehbi and Youness Dehbi and Lutz Pl\"umer},
title = {Stochastic reasoning for uav supported reconstruction of 3D building models},
booktitle = {International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences},
year = {2013},
volume = {XL-1/W2},
pages = {257-261}
}
E. Bylow and J. Sturm and C. Kerl and F. Kahl and D. Cremers, "Real-Time Camera Tracking and 3D Reconstruction Using Signed Distance Functions", In Robotics: Science and Systems Conference (RSS)., June, 2013. 2013.
@inproceedings{bylow_etal_rss2013,
author = {E. Bylow and J. Sturm and C. Kerl and F. Kahl and D. Cremers},
title = {Real-Time Camera Tracking and 3D Reconstruction Using Signed Distance Functions},
booktitle = {Robotics: Science and Systems Conference (RSS)},
year = {2013}
}
E. Bylow and J. Sturm and C. Kerl and F. Kahl and D. Cremers, "Direct Camera Pose Tracking and Mapping With Signed Distance Functions", In Demo Track of the RGB-D Workshop on Advanced Reasoning with Depth Cameras at the Robotics: Science and Systems Conference (RSS)., June, 2013. 2013.
@inproceedings{bylow_etal_rss2013rgbd_workshop,
author = {E. Bylow and J. Sturm and C. Kerl and F. Kahl and D. Cremers},
title = {Direct Camera Pose Tracking and Mapping With Signed Distance Functions},
booktitle = {Demo Track of the RGB-D Workshop on Advanced Reasoning with Depth Cameras at the Robotics: Science and Systems Conference (RSS)},
year = {2013}
}
J. Engel and J. Sturm and D. Cremers, "Semi-Dense Visual Odometry for a Monocular Camera", In International Conference on Computer Vision. Sydney, Australia, December, 2013. 2013.
@inproceedings{engel2013iccv,
author = {J. Engel and J. Sturm and D. Cremers},
title = {Semi-Dense Visual Odometry for a Monocular Camera},
booktitle = {International Conference on Computer Vision},
year = {2013},
url = {https://vision.in.tum.de/_media/spezial/bib/engel2013iccv.pdf}
}
Dirk Holz and Matthias Nieuwenhuisen and David Droeschel and Michael Schreiber and Sven Behnke, "Towards Multimodal Omnidirectional Obstacle Detection for Autonomous Unmanned Aerial Vehicles ", In International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences. UAV-g 2013, 4--6 September 2013, Rostock, Germany, pp. 201-206. 2013.
@inproceedings{Holz2013Towards,
author = {Holz, Dirk and Nieuwenhuisen, Matthias and Droeschel, David and Schreiber, Michael and Behnke, Sven},
title = {Towards Multimodal Omnidirectional Obstacle Detection for Autonomous Unmanned Aerial Vehicles },
booktitle = {International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences},
year = {2013},
pages = {201--206}
}
C. Kerl and J. Sturm and D. Cremers, "Robust Odometry Estimation for RGB-D Cameras", In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA)., May, 2013. 2013.
@inproceedings{kerl13icra,
author = {C. Kerl and J. Sturm and D. Cremers},
title = {Robust Odometry Estimation for RGB-D Cameras},
booktitle = {Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA)},
year = {2013},
url = {http://vision.in.tum.de/_media/spezial/bib/kerl13icra.pdf}
}
C. Kerl and J. Sturm and D. Cremers, "Dense Visual SLAM for RGB-D Cameras", In Proc. of the Int. Conf. on Intelligent Robot Systems (IROS). 2013.
@inproceedings{kerl13iros,
author = {C. Kerl and J. Sturm and D. Cremers},
title = {Dense Visual SLAM for RGB-D Cameras},
booktitle = {Proc. of the Int. Conf. on Intelligent Robot Systems (IROS)},
year = {2013}
}
Matthias Nieuwenhuisen and Mark Schadler and Sven Behnke, "Predictive Potential Field-based Collision Avoidance for Multicopters", In Proceedings of International Conference on Unmanned Aerial Vehicles in Geomatics (UAV-g). Rostock 2013.
@inproceedings{Nieuwenhuisen:UAV-g2013,
author = {Matthias Nieuwenhuisen and Mark Schadler and Sven Behnke},
title = {Predictive Potential Field-based Collision Avoidance for Multicopters},
booktitle = {Proceedings of International Conference on Unmanned Aerial Vehicles in Geomatics (UAV-g)},
year = {2013}
}
M. Nieuwenhuisen and D. Droeschel and J. Schneider and D. Holz and T. Läbe and S. Behnke, "Multimodal Obstacle Detection and Collision Avoidance for Micro Aerial Vehicles", In Proceedings of the 6th European Conference on Mobile Robots (ECMR). 2013.
@inproceedings{nieuwenhuisen*13:multimodal,
author = {Nieuwenhuisen, M. and Droeschel, D. and Schneider, J. and Holz, D. and L\"abe, T. and Behnke, S.},
title = {Multimodal Obstacle Detection and Collision Avoidance for Micro Aerial Vehicles},
booktitle = {Proceedings of the 6th European Conference on Mobile Robots (ECMR)},
year = {2013},
url = {http://www.ais.uni-bonn.de/papers/ECMR_2013_Nieuwenhuisen_Multimodal_Obstacle_Avoidance.pdf}
}
J. Schneider and T. Läbe and W. Förstner, "Incremental Real-time Bundle Adjustment for Multi-camera Systems with Points at Infinity", In ISPRS Archives of Photogrammetry, Remote Sensing and Spatial Information Sciences. Vol. XL-1/W2, pp. 355-360. 2013.
@inproceedings{schneider*13:incremental,
author = {Schneider, J. and L\"abe, T. and F\"orstner, W.},
title = {Incremental Real-time Bundle Adjustment for Multi-camera Systems with Points at Infinity},
booktitle = {ISPRS Archives of Photogrammetry, Remote Sensing and Spatial Information Sciences},
year = {2013},
volume = {XL-1/W2},
pages = {355-360},
url = {http://www.int-arch-photogramm-remote-sens-spatial-inf-sci.net/XL-1-W2/355/2013/isprsarchives-XL-1-W2-355-2013.pdf},
doi = {10.5194/isprsarchives-XL-1-W2-355-2013}
}
Johannes Schneider and Falko Schindler and Thomas Läbe and Wolfgang Förstner, "Bundle Adjustment for Multi-camera Systems with Points at Infinity", In ISPRS Annals of Photogrammetry, Remote Sensing and Spatial Information Sciences. Vol. I-3, pp. 75-80. 2012.
@inproceedings{Schneider2012Bundle,
author = {Schneider, Johannes and Schindler, Falko and L\"abe, Thomas and F\"orstner, Wolfgang},
title = {Bundle Adjustment for Multi-camera Systems with Points at Infinity},
booktitle = {ISPRS Annals of Photogrammetry, Remote Sensing and Spatial Information Sciences},
year = {2012},
volume = {I-3},
pages = {75--80},
url = {http://www.isprs-ann-photogramm-remote-sens-spatial-inf-sci.net/I-3/75/2012/isprsannals-I-3-75-2012.pdf},
doi = {10.5194/isprsannals-I-3-75-2012}
}
Reviewed Publications without Project Acknowledgement
Norman Wilke and Bastian Siegmann and Lasse Klingbeil and Andreas Burkart and Thorsten Kraska and Onno Muller and Anna van Doorn and Sascha Heinemann and Uwe Rascher, "Quantifying Lodging Percentage and Lodging Severity Using a UAV-Based Canopy Height Model Combined with an Objective Threshold Approach", Remote Sensing. Vol. 11(5), pp. 515. Multidisciplinary Digital Publishing Institute. 2019.
@article{wilke2019quantifying,
author = {Wilke, Norman and Siegmann, Bastian and Klingbeil, Lasse and Burkart, Andreas and Kraska, Thorsten and Muller, Onno and van Doorn, Anna and Heinemann, Sascha and Rascher, Uwe},
title = {Quantifying Lodging Percentage and Lodging Severity Using a UAV-Based Canopy Height Model Combined with an Objective Threshold Approach},
journal = {Remote Sensing},
publisher = {Multidisciplinary Digital Publishing Institute},
year = {2019},
volume = {11},
number = {5},
pages = {515}
}
Jan Razlaw and Jan Quenzel and Sven Behnke, "Detection and Tracking of Small Objects in Sparse 3D Laser Range Data", In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA). 2019.
@inproceedings{RazlawICRA2019,
author = {Jan Razlaw and Jan Quenzel and Sven Behnke},
title = {Detection and Tracking of Small Objects in Sparse {3D} Laser Range Data},
booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
year = {2019},
url = {https://arxiv.org/abs/1903.05889}
}
Nicola Krombach and David Droeschel and Sebastian Houben and Sven Behnke, "Feature-based Visual Odometry Prior for Real-time Semi-dense Stereo SLAM", Robotics and Autonomous Systems. Vol. 109, pp. 38 - 58. 2018.
@article{KrombachRAS2018,
author = {Nicola Krombach and David Droeschel and Sebastian Houben and Sven Behnke},
title = {Feature-based Visual Odometry Prior for Real-time Semi-dense Stereo {SLAM}},
journal = {Robotics and Autonomous Systems},
year = {2018},
volume = {109},
pages = {38 - 58},
url = {http://ais.uni-bonn.de/papers/RAS_2018_Krombach.pdf},
doi = {10.1016/j.robot.2018.08.002}
}
Florian Zimmermann and Christoph Holst and Lasse Klingbeil and Heiner Kuhlmann, "Accurate georeferencing of TLS point clouds with short GNSS observation durations even under challenging measurement conditions", Journal of Applied Geodesy. Vol. 12(4), pp. 289-301. De Gruyter. 2018.
@article{zimmermann2018accurate,
author = {Zimmermann, Florian and Holst, Christoph and Klingbeil, Lasse and Kuhlmann, Heiner},
title = {Accurate georeferencing of TLS point clouds with short GNSS observation durations even under challenging measurement conditions},
journal = {Journal of Applied Geodesy},
publisher = {De Gruyter},
year = {2018},
volume = {12},
number = {4},
pages = {289--301}
}
Jana Eichel and Daniel Draebing and Lasse Klingbeil and Markus Wieland and Christian Eling and Sebastian Schmidtlein and Heiner Kuhlmann and Richard Dikau, "Solifluction meets vegetation: the role of biogeomorphic feedbacks for turf-banked solifluction lobe development", Earth Surface Processes and Landforms. 2017.
@article{eichel2017solifluction,
author = {Eichel, Jana and Draebing, Daniel and Klingbeil, Lasse and Wieland, Markus and Eling, Christian and Schmidtlein, Sebastian and Kuhlmann, Heiner and Dikau, Richard},
title = {Solifluction meets vegetation: the role of biogeomorphic feedbacks for turf-banked solifluction lobe development},
journal = {Earth Surface Processes and Landforms},
year = {2017}
}
Erik Heinz and Christian Eling and Markus Wieland and Lasse Klingbeil and Heiner Kuhlmann, "Analysis of Different Reference Plane Setups for the Calibration of a Mobile Laser Scanning System", Ingenieurvermessung 17, Beiträge zum 18. Internationalen Ingenieurvermessungskurs, Graz, Österreich. 2017.
@article{heinz2017analysis,
author = {Heinz, Erik and Eling, Christian and Wieland, Markus and Klingbeil, Lasse and Kuhlmann, Heiner},
title = {Analysis of Different Reference Plane Setups for the Calibration of a Mobile Laser Scanning System},
journal = {Ingenieurvermessung 17, Beitr{\"a}ge zum 18. Internationalen Ingenieurvermessungskurs, Graz, {\"O}sterreich},
year = {2017}
}
Marius Beul and Nicola Krombach and Matthias Nieuwenhuisen and 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 International Publishing. 2017.
@inbook{BeulROSBook2017,
author = {Beul, Marius and Krombach, Nicola and Nieuwenhuisen, Matthias and Droeschel, David and Behnke, Sven},
title = {Autonomous Navigation in a Warehouse with a Cognitive Micro Aerial Vehicle},
booktitle = {Robot Operating System (ROS): The Complete Reference (Volume 2)},
publisher = {Springer International Publishing},
year = {2017},
pages = {487--524},
url = {http://www.ais.uni-bonn.de/papers/ROS_Book_Beul_2017.pdf},
doi = {10.1007/978-3-319-54927-9_15}
}
Christoph Holst and Lasse Klingbeil and Felix Esser and Heiner Kuhlmann, "Using point cloud comparisons for revealing deformations of natural and artificial objects", In Proceedings of the 7th International Conference on Engineering Surveying (INGEO 2017)., pp. 265-274. 2017.
@inproceedings{holst2017using,
author = {Holst, Christoph and Klingbeil, Lasse and Esser, Felix and Kuhlmann, Heiner},
title = {Using point cloud comparisons for revealing deformations of natural and artificial objects},
booktitle = {Proceedings of the 7th International Conference on Engineering Surveying (INGEO 2017)},
year = {2017},
pages = {265--274}
}
Matthias Nieuwenhuisen and Jan Quenzel and Marius Beul and David Droeschel and 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). 2017.
@inproceedings{NieuwenhuisenICUAS2017,
author = {Matthias Nieuwenhuisen and Jan Quenzel and Marius Beul and David Droeschel and Sebastian Houben and Sven Behnke},
title = {ChimneySpector: Autonomous {MAV}-based Indoor Chimney Inspection Employing {3D} Laser Localization and Textured Surface Reconstruction},
booktitle = {Proceedings of International Conference on Unmanned Aircraft Systems (ICUAS)},
year = {2017},
url = {http://www.ais.uni-bonn.de/papers/ICUAS_2017_Nieuwenhuisen_ChimneySpector.pdf}
}
Marius Beul and Sven Behnke, "Analytical Time-optimal Trajectory Generation and Control for Multirotors", In Proceedings of International Conference on Unmanned Aircraft Systems (ICUAS). 2016.
@inproceedings{BeulICUAS2016,
author = {Marius Beul and Sven Behnke},
title = {Analytical Time-optimal Trajectory Generation and Control for Multirotors},
booktitle = {Proceedings of International Conference on Unmanned Aircraft Systems (ICUAS)},
year = {2016},
url = {http://www.ais.uni-bonn.de/papers/ICUAS_2016_Beul.pdf}
}
E Heinz and C Eling and M Wieland and L Klingbeil and H Kuhlmann, "Development of a Portable Mobile Laser Scanning System with Special Focus on the System Calibration and Evaluation", In 5th International Conference on Machine Control and Guidance (MCG 2016). 2016.
@inproceedings{heinz2016development,
author = {Heinz, E and Eling, C and Wieland, M and Klingbeil, L and Kuhlmann, H},
title = {Development of a Portable Mobile Laser Scanning System with Special Focus on the System Calibration and Evaluation},
booktitle = {5th International Conference on Machine Control and Guidance (MCG 2016)},
year = {2016}
}
Sebastian Houben and 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). 2016.
@inproceedings{HoubenMFI2016,
author = {Sebastian Houben and David Droeschel and Sven Behnke},
title = {Joint {3D} Laser and Visual Fiducial based {SLAM} for a Micro Aerial Vehicle},
booktitle = {Proceedings of IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)},
year = {2016},
url = {http://www.ais.uni-bonn.de/papers/MFI_2016_Houben.pdf}
}
Nicola Krombach and 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). 2016.
@inproceedings{KrombachIAS2016,
author = {Nicola Krombach and David Droeschel and Sven Behnke},
title = {Combining Feature-based and Direct Methods for Semi-dense Real-time Stereo Visual Odometry},
booktitle = {Proceedings of 14th International Conference on Intelligent Autonomous Systems (IAS)},
year = {2016},
url = {http://www.ais.uni-bonn.de/papers/IAS-14_2016_Krombach.pdf}
}
Erik Heinz and Christian Eling and Markus Wieland and Lasse Klingbeil and Heiner Kuhlmann, "Development, Calibration and Evaluation of a Portable and Direct Georeferenced Laser Scanning System for Kinematic 3D Mapping", Journal of Applied Geodesy. Vol. 9(4), pp. 227-243. 2015.
@article{heinz2015development,
author = {Heinz, Erik and Eling, Christian and Wieland, Markus and Klingbeil, Lasse and Kuhlmann, Heiner},
title = {Development, Calibration and Evaluation of a Portable and Direct Georeferenced Laser Scanning System for Kinematic 3D Mapping},
journal = {Journal of Applied Geodesy},
year = {2015},
volume = {9},
number = {4},
pages = {227--243}
}
Dirk Holz and Alexandru-Eugen Ichim and Federico Tombari and Radu B. Rusu and Sven Behnke, "Registration with the Point Cloud Library: A Modular Framework for Aligning in 3-D", IEEE Robotics Automation Magazine., Dec, 2015. Vol. 22(4), pp. 110-124. 2015.
@article{HolzRAM2016,
author = {Dirk Holz and Alexandru-Eugen Ichim and Federico Tombari and Radu B. Rusu and Sven Behnke},
title = {Registration with the Point Cloud Library: A Modular Framework for Aligning in {3-D}},
journal = {IEEE Robotics Automation Magazine},
year = {2015},
volume = {22},
number = {4},
pages = {110-124},
url = {http://www.ais.uni-bonn.de/papers/RAM_2015_Holz_PCL_Registration_Tutorial.pdf},
doi = {10.1109/MRA.2015.2432331}
}
Marius Beul and Nicola Krombach and Yongfeng Zhong and David Droeschel and Matthias Nieuwenhuisen and Sven Behnke, "A High-performance MAV for Autonomous Navigation in Complex 3D Environments", In Proceedings of the International Conference on Unmanned Aircraft Systems (ICUAS). 2015.
@inproceedings{BeulICUAS2015,
author = {Marius Beul and Nicola Krombach and Yongfeng Zhong and David Droeschel and Matthias Nieuwenhuisen and Sven Behnke},
title = {A High-performance {MAV} for Autonomous Navigation in Complex {3D} Environments},
booktitle = {Proceedings of the International Conference on Unmanned Aircraft Systems (ICUAS)},
year = {2015},
url = {http://www.ais.uni-bonn.de/papers/ICUAS_2015_Beul.pdf},
doi = {10.1109/ICUAS.2015.7152417}
}
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). 2015.
@inproceedings{NieuwenhuisenEMCR2015,
author = {Matthias Nieuwenhuisen and Sven Behnke},
title = {{3D} Planning and Trajectory Optimization for Real-time Generation of Smooth {MAV} Trajectories},
booktitle = {Proceedings of European Conference on Mobile Robots (ECMR)},
year = {2015},
url = {http://www.ais.uni-bonn.de/papers/ECMR_2015_Nieuwenhuisen.pdf}
}
Marius Beul Matthias Nieuwenhuisen, David Droeschel 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). 2015.
@inproceedings{NieuwenhuisenSSRR2015,
author = {Matthias Nieuwenhuisen, David Droeschel, Marius Beul, and Sven Behnke},
title = {Autonomous {MAV} Navigation in Complex {GNSS}-denied {3D} Environments},
booktitle = {Proceedings of IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)},
year = {2015},
url = {http://www.ais.uni-bonn.de/papers/SSRR_2015_Nieuwenhuisen.pdf},
doi = {10.1109/SSRR.2015.7443012}
}
Jan Razlaw and David Droeschel and Dirk Holz and Sven Behnke, "Evaluation of Registration Methods for Sparse 3D Laser Scans", In Proceedings of European Conference on Mobile Robots (ECMR). 2015.
@inproceedings{RazlawEMCR2015,
author = {Jan Razlaw and David Droeschel and Dirk Holz and Sven Behnke},
title = {Evaluation of Registration Methods for Sparse {3D} Laser Scans},
booktitle = {Proceedings of European Conference on Mobile Robots (ECMR)},
year = {2015},
url = {http://www.ais.uni-bonn.de/papers/ECMR_2015_Razlaw.pdf}
}
J. Engel and J. Sturm and D. Cremers, "Scale-Aware Navigation of a Low-Cost Quadrocopter with a Monocular Camera", Robotics and Autonomous Systems (RAS). 2014.
@article{engel14ras,
author = {J. Engel and J. Sturm and D. Cremers},
title = {Scale-Aware Navigation of a Low-Cost Quadrocopter with a Monocular Camera},
journal = {Robotics and Autonomous Systems (RAS)},
year = {2014},
doi = {10.1016/j.robot.2014.03.012}
}
Mark Schadler and Jörg Stückler and Sven Behnke, "Rough Terrain 3D Mapping and Navigation Using a Continuously Rotating 2D Laser Scanner", German Journal on Artificial Intelligence (KI). Vol. 28(2), pp. 93-99. 2014.
@article{Schadler_KI2014,
author = {Mark Schadler and J{\"o}rg St{\"u}ckler and Sven Behnke},
title = {Rough Terrain {3D} Mapping and Navigation Using a Continuously Rotating {2D} Laser Scanner},
journal = {German Journal on Artificial Intelligence (KI)},
year = {2014},
volume = {28},
number = {2},
pages = {93-99},
doi = {10.1007/s13218-014-0301-8}
}
Jörg Stückler and Sven Behnke, "Multi-Resolution Surfel Maps for Efficient Dense 3D Modeling and Tracking", Journal of Visual Communication and Image Representation. Vol. 25(1), pp. 137-147. Springer. 2014.
@article{Stueckler_VCIR2014:MRSMaps,
author = {J\"org St\"uckler and Sven Behnke},
title = {Multi-Resolution Surfel Maps for Efficient Dense {3D} Modeling and Tracking},
journal = {Journal of Visual Communication and Image Representation},
publisher = {Springer},
year = {2014},
volume = {25},
number = {1},
pages = {137--147},
doi = {10.1016/j.jvcir.2013.02.008}
}
M. Weinmann and J. Gall and R. Klein, "Material Classification based on Training Data Synthesized Using a BTF Database", Accepted for ECCV 2014. 2014.
@article{Weinmann2014,
author = {M. Weinmann and J. Gall and R. Klein},
title = {Material Classification based on Training Data Synthesized Using a BTF Database},
journal = {Accepted for ECCV 2014},
year = {2014}
}
Marko Ristin and Matthieu Guillaumin and Juergen Gall and Luc Van Gool, "Incremental Learning of NCM Forests for Large-Scale Image Classification", In IEEE Conference on Computer Vision and Pattern Recognition (CVPR). 2014.
@conference{conferencereference.2014-04-23.5377901415,
author = {Ristin, Marko and Guillaumin, Matthieu and Gall, Juergen and Van Gool, Luc},
title = {Incremental Learning of {NCM} Forests for Large-Scale Image Classification},
booktitle = {IEEE Conference on Computer Vision and Pattern Recognition (CVPR)},
year = {2014}
}
M. Mazuran and G.D. Tipaldi and L. Spinello and W. Burgard and C. Stachniss, "A Statistical Measure for Map Consistency in SLAM", In Proceedings of the IEEE Int. Conf. on Robotics & Automation (ICRA). Hong Kong, China 2014.
@inproceedings{mazuran14icra,
author = {M. Mazuran and G.D. Tipaldi and L. Spinello and W. Burgard and C. Stachniss},
title = {A Statistical Measure for Map Consistency in SLAM},
booktitle = {Proceedings of the IEEE Int. Conf. on Robotics \& Automation (ICRA)},
year = {2014}
}
Ricarda Steffens and 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. 2014.
@inproceedings{Steffens_IAS2014:MultiresolutionInTime,
author = {Ricarda Steffens and Matthias Nieuwenhuisen and Sven Behnke},
title = {Continuous Motion Planning for Service Robots with Multiresolution in Time},
booktitle = {Proceedings of 13th International Conference on Intelligent Autonomous Systems (IAS), Padova, Italy},
year = {2014}
}
Christian Eling and Philipp Zeimetz and Heiner Kuhlmann, "Development of an instantaneous GNSS/MEMS attitude determination system", GPS Solutions. Vol. 17(1), pp. 129-138. Springer-Verlag. 2013.
@article{eling*13:attitude,
author = {Eling, Christian and Zeimetz, Philipp and Kuhlmann, Heiner},
title = {Development of an instantaneous {GNSS}/{MEMS} attitude determination system},
journal = {GPS Solutions},
publisher = {Springer-Verlag},
year = {2013},
volume = {17},
number = {1},
pages = {129-138},
url = {http://dx.doi.org/10.1007/s10291-012-0266-8},
doi = {10.1007/s10291-012-0266-8}
}
Jörg Stückler and Benedikt Waldvogel and Hannes Schulz and Sven Behnke, "Dense Real-Time Mapping of Object-Class Semantics from RGB-D Video", Journal of Real-Time Image Processing. Springer. 2013.
@article{Stueckler_RTIP2014:SemanticMapping,
author = {J\"org St\"uckler and Benedikt Waldvogel and Hannes Schulz and Sven Behnke},
title = {Dense Real-Time Mapping of Object-Class Semantics from {RGB-D} Video},
journal = {Journal of Real-Time Image Processing},
publisher = {Springer},
year = {2013},
note = {available online},
doi = {10.1007/s11554-013-0379-5}
}
D. Bender and M. Schikora and J. Sturm and D. Cremers, "Graph-based bundle adjustment for INS-camera calibration", In Unmanned Aerial Vehicle in Geomatics (UAV-g). Rostock, Germany, September, 2013. 2013.
@inproceedings{bender_etal_2013uavg,
author = {D. Bender and M. Schikora and J. Sturm and D. Cremers},
title = {Graph-based bundle adjustment for INS-camera calibration},
booktitle = {Unmanned Aerial Vehicle in Geomatics (UAV-g)},
year = {2013}
}
T. Naseer and J. Sturm and D. Cremers, "FollowMe: Person Following and Gesture Recognition with a Quadrocopter", In Proc. of the Int. Conf. on Intelligent Robot Systems (IROS). 2013.
@inproceedings{naseer2013iros,
author = {T. Naseer and J. Sturm and D. Cremers},
title = {{FollowMe}: Person Following and Gesture Recognition with a Quadrocopter},
booktitle = {Proc. of the Int. Conf. on Intelligent Robot Systems (IROS)},
year = {2013}
}
M Ristin and J Gall and L van Gool, "Local Context Priors for Object Proposal Generation", In Asian Conference on Computer Vision (ACCV). Vol. 7724, pp. 57-70. Springer. 2013.
@inproceedings{RIGG12,
author = {Ristin, M and Gall, J and van Gool, L},
title = {Local Context Priors for Object Proposal Generation},
booktitle = {Asian Conference on Computer Vision (ACCV)},
publisher = {Springer},
year = {2013},
volume = {7724},
pages = {57-70}
}
F. Steinbruecker and C. Kerl and J. Sturm and D. Cremers, "Large-Scale Multi-Resolution Surface Reconstruction from RGB-D Sequences", In International Conference on Computer Vision. Sydney, Australia 2013.
@inproceedings{Steinbruecker-etal-iccv13,
author = {F. Steinbruecker and C. Kerl and J. Sturm and D. Cremers},
title = {Large-Scale Multi-Resolution Surface Reconstruction from RGB-D Sequences},
booktitle = {International Conference on Computer Vision},
year = {2013}
}
Jörg Stückler and Sven Behnke, "Hierarchical Object Discovery and Dense Modelling From Motion Cues in RGB-D Video", In Proc. of the 23rd Int. Joint Conf. on Artificial Intelligence (IJCAI). 2013.
@inproceedings{Stueckler_IJCAI_2013:Motion,
author = {J{\"o}rg St{\"u}ckler and Sven Behnke},
title = {Hierarchical Object Discovery and Dense Modelling From Motion Cues in {RGB-D} Video},
booktitle = {Proc.\ of the 23rd Int.\ Joint Conf.\ on Artificial Intelligence (IJCAI)},
year = {2013}
}
Gerhard Gröger and Lutz Plümer, "Transaction rules for updating surfaces in 3D GIS", ISPRS Journal of Photogrammetry and Remote Sensing . Vol. 69(0), pp. 134 - 145. 2012.
@article{Groeger2012134,
author = {Gr\"{o}ger, Gerhard and Pl\"{u}mer, Lutz},
title = {Transaction rules for updating surfaces in 3D {GIS}},
journal = {{ISPRS} Journal of Photogrammetry and Remote Sensing },
year = {2012},
volume = {69},
number = {0},
pages = {134 - 145},
doi = {10.1016/j.isprsjprs.2012.03.004}
}
Gerhard Gröger and Lutz Plümer, "Provably Correct and Complete Transaction Rules for Updating 3D City Models", Geoinformatica. Vol. 16(1), pp. 131-164. 2012.
@article{Groger2012,
author = {Gr\"{o}ger, Gerhard and Pl\"{u}mer, Lutz},
title = {Provably Correct and Complete Transaction Rules for Updating 3D City Models},
journal = {Geoinformatica},
year = {2012},
volume = {16},
number = {1},
pages = {131--164},
doi = {10.1145/267825.267837}
}
André Henn and Christoph Römer and Gerhard Gröger and Lutz Plümer, "Automatic Classification of Building Types in 3D City Models", Geoinformatica. Vol. 16(2), pp. 281-306. 2012.
@article{Henn2012,
author = {Henn, Andr{\'e} and R\"{o}mer, Christoph and Gr\"{o}ger, Gerhard and Pl\"{u}mer, Lutz},
title = {Automatic Classification of Building Types in 3D City Models},
journal = {Geoinformatica},
year = {2012},
volume = {16},
number = {2},
pages = {281--306},
doi = {10.1007/s10707-011-0131-x}
}
C. Stachniss and W. Burgard, "Particle Filters for Robot Navigation", Foundations and Trends in Robotics. Vol. 3(4), pp. 211-282. 2012.
@article{stachniss12fnt,
author = {C. Stachniss and W. Burgard},
title = {Particle Filters for Robot Navigation},
journal = {Foundations and Trends in Robotics},
year = {2012},
volume = {3},
number = {4},
pages = {211-282},
note = {Published 2014},
doi = {10.1561/2300000013}
}
Matthias Nieuwenhuisen and Joerg Stückler and Alexander Berner and Reinhard Klein and Sven Behnke, "Shape-Primitive Based Object Recognition and Grasping", In 7th German Conference on Robotics (ROBOTIK)., May, 2012. 2012.
Grasping objects from unstructured piles is an important, but difficult task. We present a new framework to grasp objects composed of shape primitives like cylinders and spheres. For object recognition, we employ efficient shape primitive detection methods in 3D point clouds. Object models composed of such primitives are then found in the detected shapes with a probabilistic graph-matching technique. We implement object grasping based on the shape primitives in an efficient multi-stage process that successively prunes infeasible grasps in tests of increasing complexity. The final step is to plan collision-free reaching motions to execute the grasps. With our approach, our service robot can grasp object compounds from piles of objects, e. g., in transport boxes.
@inproceedings{Berner2012b,
author = {Nieuwenhuisen, Matthias and St{\"u}ckler, Joerg and Berner, Alexander and Klein, Reinhard and Behnke, Sven},
title = {Shape-Primitive Based Object Recognition and Grasping},
booktitle = {7th German Conference on Robotics (ROBOTIK)},
year = {2012}
}
Christian Eling and Philipp Zeimetz and Heiner Kuhlmann, "Single-Epoch Ambiguity Resolution for Kinematic GNSS Positioning", In Proceedings of the 3rd International Conference on Machine Control & Guidance., pp. 35-46. 2012.
@inproceedings{eling*12:single,
author = {Eling, Christian and Zeimetz, Philipp and Kuhlmann, Heiner},
title = {Single-Epoch Ambiguity Resolution for Kinematic {GNSS} Positioning},
booktitle = {Proceedings of the 3rd International Conference on Machine Control \& Guidance},
year = {2012},
pages = {35-46}
}
J. Sturm and N. Engelhard and F. Endres and W. Burgard and D. Cremers, "A Benchmark for the Evaluation of RGB-D SLAM Systems", In Proc. of the Int. Conf. on Intelligent Robot Systems (IROS)., Oct., 2012. 2012.
@inproceedings{sturm12iros,
author = {J. Sturm and N. Engelhard and F. Endres and W. Burgard and D. Cremers},
title = {{{A Benchmark for the Evaluation of RGB-D SLAM Systems}}},
booktitle = {{Proc. of the Int.\ Conf.\ on Intelligent Robot Systems (IROS)}},
year = {2012}
}
J. Sturm and W. Burgard and D. Cremers, "Evaluating Egomotion and Structure-from-Motion Approaches Using the TUM RGB-D Benchmark", In Proc. of the Workshop on Color-Depth Camera Fusion in Robotics at the IEEE/RJS International Conference on Intelligent Robot Systems (IROS)., Oct., 2012. 2012.
@inproceedings{sturm12iros_ws,
author = {J. Sturm and W. Burgard and D. Cremers},
title = {Evaluating Egomotion and Structure-from-Motion Approaches Using the {TUM RGB-D} Benchmark},
booktitle = {Proc. of the Workshop on Color-Depth Camera Fusion in Robotics at the IEEE/RJS International Conference on Intelligent Robot Systems (IROS)},
year = {2012}
}
A Yao and J Gall and C Leistner and L van Gool, "Interactive Object Detection", In IEEE Conference on Computer Vision and Pattern Recognition (CVPR)., pp. 3242-3249. 2012.
@inproceedings{YGLG12,
author = {Yao, A and Gall, J and Leistner, C and van Gool, L},
title = {Interactive Object Detection},
booktitle = {IEEE Conference on Computer Vision and Pattern Recognition (CVPR)},
year = {2012},
pages = {3242-3249}
}
Juergen Gall and Angela Yao and Nima Razavi and Luc van Gool and Victor Lempitsky, "Hough Forests for Object Detection, Tracking, and Action Recognition", IEEE Transactions on Pattern Analysis and Machine Intelligence. Vol. 33(11), pp. 2188-2202. 2011.
@article{51191074,
author = {Gall, Juergen and Yao, Angela and Razavi, Nima and van Gool, Luc and Lempitsky, Victor},
title = {{H}ough Forests for Object Detection, Tracking, and Action Recognition},
journal = {IEEE Transactions on Pattern Analysis and Machine Intelligence},
year = {2011},
volume = {33},
number = {11},
pages = {2188-2202}
}
Nima Razavi and Juergen Gall and Luc van Gool, "Scalable multi-class object detection", In IEEE Conference on Computer Vision and Pattern Recognition (CVPR)., pp. 1505-1512. 2011.
@inproceedings{51108052,
author = {Razavi, Nima and Gall, Juergen and van Gool, Luc},
title = {Scalable multi-class object detection},
booktitle = {IEEE Conference on Computer Vision and Pattern Recognition (CVPR)},
year = {2011},
pages = {1505-1512}
}
G. Grisetti and R. Kümmerle and C. Stachniss and U. Frese and C. Hertzberg, "Hierarchical Optimization on Manifolds for Online 2D and 3D Mapping", In Proceedings of the IEEE Int. Conf. on Robotics & Automation (ICRA). Anchorage, Alaska 2010.
@inproceedings{grisetti10icra,
author = {G. Grisetti and R. K{\"u}mmerle and C. Stachniss and U. Frese and C. Hertzberg},
title = {Hierarchical Optimization on Manifolds for Online 2D and 3D Mapping},
booktitle = {Proceedings of the IEEE Int. Conf. on Robotics \& Automation (ICRA)},
year = {2010},
url = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/grisetti10icra.pdf}
}
R. Schnabel and S. Möser and R. Klein, "Fast Vector Quantization for Efficient Rendering of Compressed Point-Clouds", Computers and Graphics., April, 2008. Vol. 32(2), pp. 246-259. 2008.
@article{Schnabel2008,
author = {Schnabel, R. and M\"oser, S. and Klein, R.},
title = {Fast Vector Quantization for Efficient Rendering of Compressed Point-Clouds},
journal = {Computers and Graphics},
year = {2008},
volume = {32},
number = {2},
pages = {246-259},
doi = {10.1016/j.cag.2008.01.014}
}
B. Steder and G. Grisetti and C. Stachniss and W. Burgard, "Visual SLAM for Flying Vehicles", IEEE Transactions on Robotics. Vol. 24(8), pp. 1088-1093. 2008.
@article{steder08tro,
author = {Steder, B. and Grisetti, G. and Stachniss, C. and Burgard, W.},
title = {Visual {SLAM} for Flying Vehicles},
journal = {IEEE Transactions on Robotics},
year = {2008},
volume = {24},
number = {8},
pages = {1088--1093},
doi = {10.1109/TRO.2008.2004521}
}
Other Publications
J. Schneider and C. Stachniss and W. Förstner, "Dichtes Stereo mit Fisheye-Kameras", In UAV 2016 -- Vermessung mit unbemannten Flugsystemen. Vol. 82, pp. 247-264. Schriftenreihe des DVW, Wißner Verlag. 2016.
@inproceedings{schneider16dvw,
author = {J. Schneider and C. Stachniss and W. F\"orstner},
title = {Dichtes Stereo mit Fisheye-Kameras},
booktitle = {UAV 2016 -- Vermessung mit unbemannten Flugsystemen},
publisher = {Schriftenreihe des DVW, Wi{\ss}ner Verlag},
year = {2016},
volume = {82},
pages = {247-264}
}
Christian Eling and Erik Heinz and Lasse Klingbeil and Heiner Kuhlmann, "Cycle Slip Detection in the Context of RTK-GPS Positioning of Lightweight UAVs", In Proceedings of the 4th International Conference on Machine Control & Guidance. 2014.
@inproceedings{eling*14:cycleslip,
author = {Eling, Christian and Heinz, Erik and Klingbeil, Lasse and Kuhlmann, Heiner},
title = {Cycle Slip Detection in the Context of {RTK}-{GPS} Positioning of Lightweight {UAV}s},
booktitle = {Proceedings of the 4th International Conference on Machine Control \& Guidance},
year = {2014}
}
Christian Eling and Lasse Klingbeil and Heiner Kuhlmann, "A precise direct georeferencing system for UAVs", In Proceedings of the Workshop on UAV-basaed Remote Sensing Methods for Monitoring Vegetation. - Kölner Geographische Arbeiten. Vol. 94, pp. 33-41. 2014.
@inproceedings{eling*14:georef,
author = {Eling, Christian and Klingbeil, Lasse and Kuhlmann, Heiner},
title = {A precise direct georeferencing system for {UAV}s},
booktitle = {Proceedings of the Workshop on UAV-basaed Remote Sensing Methods for Monitoring Vegetation. - K{\"o}lner Geographische Arbeiten},
year = {2014},
volume = {94},
pages = {33-41},
doi = {10.5880/TR32DB.KGA94.6}
}
Johannes Schneider and Thomas Läbe and Wolfgang Förstner, "Real-Time Bundle Adjustment with an Omnidirectional Multi-Camera System and GPS", In Proceedings of the 4th International Conference on Machine Control & Guidance., pp. 98-103. 2014.
@inproceedings{Schneider2014Realtime,
author = {Schneider, Johannes and L\"abe, Thomas and F\"orstner, Wolfgang},
title = {Real-Time Bundle Adjustment with an Omnidirectional Multi-Camera System and GPS},
booktitle = {Proceedings of the 4th International Conference on Machine Control \& Guidance},
year = {2014},
pages = {98--103},
url = {http://www.digibib.tu-bs.de/?docid=00056119}
}
Richard Vock, "Efficient and Robust Symmetry Detection in Architectural Scenes". Thesis at: Institut für Informatik II, Universität Bonn. 2014.
@mastersthesis{VockDiplomarbeit2014,
author = {Richard Vock},
title = {Efficient and Robust Symmetry Detection in Architectural Scenes},
school = {{{Institut f\"ur Informatik II, Universit\"at Bonn}}},
year = {2014}
}
Matthias Nieuwenhuisen and David Droeschel and Dirk Holz and Sven Behnke, "Omnidirectional Obstacle Perception and Collision Avoidance for Micro Aerial Vehicles ", In RSS 2013 Workshop on Resource-Efficient Integration of Perception, Control and Navigation for Micro Air Vehicles. 2013.
@inproceedings{Nieuwenhuisen2013Omnidirectional,
author = { Nieuwenhuisen, Matthias and Droeschel, David and Holz, Dirk and Behnke, Sven},
title = {Omnidirectional Obstacle Perception and Collision Avoidance for Micro Aerial Vehicles },
booktitle = {RSS 2013 Workshop on Resource-Efficient Integration of Perception, Control and Navigation for Micro Air Vehicles},
year = {2013},
url = {http://www.ais.uni-bonn.de/papers/RSS_2013_MAV_WS_Nieuwenhuisen.pdf}
}