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2015


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Real-Time Object Detection, Localization and Verification for Fast Robotic Depalletizing

Holz, D., Topalidou-Kyniazopoulou, A., Stueckler, J., Behnke, S.

In IEEE International Conference on Intelligent Robots and Systems (IROS), 2015 (inproceedings)

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link (url) [BibTex]

2015


link (url) [BibTex]


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Dense Continuous-Time Tracking and Mapping with Rolling Shutter RGB-D Cameras

Kerl, C., Stueckler, J., Cremers, D.

In IEEE International Conference on Computer Vision (ICCV), Santiago, Chile, 2015, {[video][supplementary][datasets]} (inproceedings)

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[BibTex]

[BibTex]


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Perception of Deformable Objects and Compliant Manipulation for Service Robots

Stueckler, J., Behnke, S.

In Soft Robotics: From Theory to Applications, Springer, 2015 (inbook)

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link (url) [BibTex]

link (url) [BibTex]


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Large-Scale Direct SLAM with Stereo Cameras

Engel, J., Stueckler, J., Cremers, D.

In IEEE International Conference on Intelligent Robots and Systems (IROS), 2015 (inproceedings)

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[BibTex]

[BibTex]


Comparing the effect of different spine and leg designs for a small bounding quadruped robot
Comparing the effect of different spine and leg designs for a small bounding quadruped robot

Eckert, P., Spröwitz, A., Witte, H., Ijspeert, A. J.

In Proceedings of ICRA, pages: 3128-3133, Seattle, Washington, USA, 2015 (inproceedings)

Abstract
We present Lynx-robot, a quadruped, modular, compliant machine. It alternately features a directly actuated, single-joint spine design, or an actively supported, passive compliant, multi-joint spine configuration. Both spine con- figurations bend in the sagittal plane. This study aims at characterizing these two, largely different spine concepts, for a bounding gait of a robot with a three segmented, pantograph leg design. An earlier, similar-sized, bounding, quadruped robot named Bobcat with a two-segment leg design and a directly actuated, single-joint spine design serves as a comparison robot, to study and compare the effect of the leg design on speed, while keeping the spine design fixed. Both proposed spine designs (single rotatory and active and multi-joint compliant) reach moderate, self-stable speeds.

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link (url) DOI Project Page [BibTex]

link (url) DOI Project Page [BibTex]


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Motion Cooperation: Smooth Piece-Wise Rigid Scene Flow from RGB-D Images

Jaimez, M., Souiai, M., Stueckler, J., Gonzalez-Jimenez, J., Cremers, D.

In Proc. of the Int. Conference on 3D Vision (3DV), October 2015, {[video]} (inproceedings)

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[BibTex]

[BibTex]


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Super-Resolution Keyframe Fusion for 3D Modeling with High-Quality Textures

Maier, R., Stueckler, J., Cremers, D.

In International Conference on 3D Vision (3DV), October 2015, {[slides] [poster]} (inproceedings)

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[BibTex]

[BibTex]


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Reconstructing Street-Scenes in Real-Time From a Driving Car

Usenko, V., Engel, J., Stueckler, J., Cremers, D.

In Proc. of the Int. Conference on 3D Vision (3DV), October 2015 (inproceedings)

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[BibTex]

[BibTex]

2014


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Adaptive Tool-Use Strategies for Anthropomorphic Service Robots

Stueckler, J., Behnke, S.

In Proc. of the 14th IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2014 (inproceedings)

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link (url) [BibTex]

2014


link (url) [BibTex]


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Local Multi-Resolution Surfel Grids for MAV Motion Estimation and 3D Mapping

Droeschel, D., Stueckler, J., Behnke, S.

In Proc. of the 13th International Conference on Intelligent Autonomous Systems (IAS), 2014 (inproceedings)

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link (url) [BibTex]

link (url) [BibTex]


Automatic Generation of Reduced CPG Control Networks for Locomotion of Arbitrary Modular Robot Structures
Automatic Generation of Reduced CPG Control Networks for Locomotion of Arbitrary Modular Robot Structures

Bonardi, S., Vespignani, M., Möckel, R., Van den Kieboom, J., Pouya, S., Spröwitz, A., Ijspeert, A.

In Proceedings of Robotics: Science and Systems, University of California, Barkeley, 2014 (inproceedings)

Abstract
The design of efficient locomotion controllers for arbitrary structures of reconfigurable modular robots is challenging because the morphology of the structure can change dynamically during the completion of a task. In this paper, we propose a new method to automatically generate reduced Central Pattern Generator (CPG) networks for locomotion control based on the detection of bio-inspired sub-structures, like body and limbs, and articulation joints inside the robotic structure. We demonstrate how that information, coupled with the potential symmetries in the structure, can be used to speed up the optimization of the gaits and investigate its impact on the solution quality (i.e. the velocity of the robotic structure and the potential internal collisions between robotic modules). We tested our approach on three simulated structures and observed that the reduced network topologies in the first iterations of the optimization process performed significantly better than the fully open ones.

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DOI [BibTex]

DOI [BibTex]


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Active Recognition and Manipulation for Mobile Robot Bin Picking

Holz, D., Nieuwenhuisen, M., Droeschel, D., Stueckler, J., Berner, A., Li, J., Klein, R., Behnke, S.

In Gearing Up and Accelerating Cross-fertilization between Academic and Industrial Robotics Research in Europe: Technology Transfer Experiments from the ECHORD Project, pages: 133-153, Springer, 2014 (inbook)

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link (url) DOI [BibTex]

link (url) DOI [BibTex]


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Combining the Strengths of Sparse Interest Point and Dense Image Registration for RGB-D Odometry

Stueckler, J., Gutt, A., Behnke, S.

In Proc. of the Joint 45th International Symposium on Robotics (ISR) and 8th German Conference on Robotics (ROBOTIK), 2014 (inproceedings)

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link (url) [BibTex]

link (url) [BibTex]


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Increasing Flexibility of Mobile Manipulation and Intuitive Human-Robot Interaction in RoboCup@Home

Stueckler, J., Droeschel, D., Gräve, K., Holz, D., Schreiber, M., Topaldou-Kyniazopoulou, A., Schwarz, M., Behnke, S.

In RoboCup 2013, Robot Soccer World Cup XVII, pages: 135-146, Springer, 2014 (inbook)

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link (url) DOI [BibTex]

link (url) DOI [BibTex]


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Mobile Teleoperation Interfaces with Adjustable Autonomy for Personal Service Robots

Schwarz, M., Stueckler, J., Behnke, S.

In Proceedings of the 2014 ACM/IEEE International Conference on Human-robot Interaction, pages: 288-289, HRI ’14, ACM, 2014 (inproceedings)

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link (url) DOI [BibTex]

link (url) DOI [BibTex]


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Self-Exploration of the Stumpy Robot with Predictive Information Maximization

Martius, G., Jahn, L., Hauser, H., V. Hafner, V.

In Proc. From Animals to Animats, SAB 2014, 8575, pages: 32-42, LNCS, Springer, 2014 (inproceedings)

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[BibTex]

[BibTex]


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Robot Learning by Guided Self-Organization

Martius, G., Der, R., Herrmann, J. M.

In Guided Self-Organization: Inception, 9, pages: 223-260, Emergence, Complexity and Computation, Springer Berlin Heidelberg, 2014 (incollection)

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link (url) DOI [BibTex]

link (url) DOI [BibTex]


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Efficient deformable registration of multi-resolution surfel maps for object manipulation skill transfer

Stueckler, J., Behnke, S.

In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), pages: 994-1001, May 2014 (inproceedings)

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link (url) DOI [BibTex]

link (url) DOI [BibTex]


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Local multi-resolution representation for 6D motion estimation and mapping with a continuously rotating 3D laser scanner

Droeschel, D., Stueckler, J., Behnke, S.

In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), pages: 5221-5226, May 2014 (inproceedings)

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link (url) DOI [BibTex]

link (url) DOI [BibTex]