194 citations · 1.5k across the 123 of their papers we have counts for
25 papers · 1 filter
RoboCup 2019 AdultSize Winner NimbRo: Deep Learning Perception, In-Walk Kick, Push Recovery, and Team Play Capabilities
Diego Rodriguez, Hafez Farazi, Grzegorz Ficht +7
Individual and team capabilities are challenged every year by rule changes and the increasing performance of the soccer teams at RoboCup Humanoid League. For RoboCup 2019 in the Ad…
ConvPoseCNN: Dense Convolutional 6D Object Pose Estimation
Catherine Capellen, Max Schwarz, Sven Behnke
6D object pose estimation is a prerequisite for many applications. In recent years, monocular pose estimation has attracted much research interest because it does not need depth me…
Bonn Activity Maps: Dataset Description
Julian Tanke, Oh-Hun Kwon, Patrick Stotko +9
The key prerequisite for accessing the huge potential of current machine learning techniques is the availability of large databases that capture the complex relations of interest.…
LatticeNet: Fast Point Cloud Segmentation Using Permutohedral Lattices
Radu Alexandru Rosu, Peer Schütt, Jan Quenzel +1
Deep convolutional neural networks (CNNs) have shown outstanding performance in the task of semantically segmenting images. However, applying the same methods on 3D data still pose…
Refining 6D Object Pose Predictions using Abstract Render-and-Compare
Arul Selvam Periyasamy, Max Schwarz, Sven Behnke
Robotic systems often require precise scene analysis capabilities, especially in unstructured, cluttered situations, as occurring in human-made environments. While current deep-lea…
Autonomous Bimanual Functional Regrasping of Novel Object Class Instances
Dmytro Pavlichenko, Diego Rodriguez, Christian Lenz +2
In human-made scenarios, robots need to be able to fully operate objects in their surroundings, i.e., objects are required to be functionally grasped rather than only picked. This…
Flexible Disaster Response of Tomorrow -- Final Presentation and Evaluation of the CENTAURO System
Tobias Klamt, Diego Rodriguez, Lorenzo Baccelliere +29
Mobile manipulation robots have high potential to support rescue forces in disaster-response missions. Despite the difficulties imposed by real-world scenarios, robots are promisin…
Utilizing Temporal Information in Deep Convolutional Network for Efficient Soccer Ball Detection and Tracking
Anna Kukleva, Mohammad Asif Khan, Hafez Farazi +1
Soccer ball detection is identified as one of the critical challenges in the RoboCup competition. It requires an efficient vision system capable of handling the task of detection w…
NimbRo Robots Winning RoboCup 2018 Humanoid AdultSize Soccer Competitions
Hafez Farazi, Grzegorz Ficht, Philipp Allgeuer +5
Over the past few years, the Humanoid League rules have changed towards more realistic and challenging game environments, which encourage teams to advance their robot soccer perfor…
Two-Staged Acoustic Modeling Adaption for Robust Speech Recognition by the Example of German Oral History Interviews
Michael Gref, Christoph Schmidt, Sven Behnke +1
In automatic speech recognition, often little training data is available for specific challenging tasks, but training of state-of-the-art automatic speech recognition systems requi…
Directional TSDF: Modeling Surface Orientation for Coherent Meshes
Malte Splietker, Sven Behnke
Real-time 3D reconstruction from RGB-D sensor data plays an important role in many robotic applications, such as object modeling and mapping. The popular method of fusing depth inf…
Interpretable and Fine-Grained Visual Explanations for Convolutional Neural Networks
Jörg Wagner, Jan Mathias Köhler, Tobias Gindele +3
To verify and validate networks, it is essential to gain insight into their decisions, limitations as well as possible shortcomings of training data. In this work, we propose a pos…
Fast Time-optimal Avoidance of Moving Obstacles for High-Speed MAV Flight
Marius Beul, Sven Behnke
In this work, we propose a method to efficiently compute smooth, time-optimal trajectories for micro aerial vehicles (MAVs) evading a moving obstacle. Our approach first computes a…
Remote Mobile Manipulation with the Centauro Robot: Full-body Telepresence and Autonomous Operator Assistance
Tobias Klamt, Max Schwarz, Christian Lenz +21
Solving mobile manipulation tasks in inaccessible and dangerous environments is an important application of robots to support humans. Example domains are construction and maintenan…
A VR System for Immersive Teleoperation and Live Exploration with a Mobile Robot
Patrick Stotko, Stefan Krumpen, Max Schwarz +4
Applications like disaster management and industrial inspection often require experts to enter contaminated places. To circumvent the need for physical presence, it is desirable to…
Value Iteration Networks on Multiple Levels of Abstraction
Daniel Schleich, Tobias Klamt, Sven Behnke
Learning-based methods are promising to plan robot motion without performing extensive search, which is needed by many non-learning approaches. Recently, Value Iteration Networks (…
Semi-Supervised Semantic Mapping through Label Propagation with Semantic Texture Meshes
Radu Alexandru Rosu, Jan Quenzel, Sven Behnke
Scene understanding is an important capability for robots acting in unstructured environments. While most SLAM approaches provide a geometrical representation of the scene, a seman…
SemanticKITTI: A Dataset for Semantic Scene Understanding of LiDAR Sequences
Jens Behley, Martin Garbade, Andres Milioto +4
Semantic scene understanding is important for various applications. In particular, self-driving cars need a fine-grained understanding of the surfaces and objects in their vicinity…
Learning Super-resolution 3D Segmentation of Plant Root MRI Images from Few Examples
Ali Oguz Uzman, Jannis Horn, Sven Behnke
Analyzing plant roots is crucial to understand plant performance in different soil environments. While magnetic resonance imaging (MRI) can be used to obtain 3D images of plant roo…
Detection and Tracking of Small Objects in Sparse 3D Laser Range Data
Jan Razlaw, Jan Quenzel, Sven Behnke
Detection and tracking of dynamic objects is a key feature for autonomous behavior in a continuously changing environment. With the increasing popularity and capability of micro ae…
Complex Valued Gated Auto-encoder for Video Frame Prediction
Niloofar Azizi, Nils Wandel, Sven Behnke
In recent years, complex valued artificial neural networks have gained increasing interest as they allow neural networks to learn richer representations while potentially incorpora…
Towards Learning Abstract Representations for Locomotion Planning in High-dimensional State Spaces
Tobias Klamt, Sven Behnke
Ground robots which are able to navigate a variety of terrains are needed in many domains. One of the key aspects is the capability to adapt to the ground structure, which can be r…
Search-based 3D Planning and Trajectory Optimization for Safe Micro Aerial Vehicle Flight Under Sensor Visibility Constraints
Matthias Nieuwenhuisen, Sven Behnke
Safe navigation of Micro Aerial Vehicles (MAVs) requires not only obstacle-free flight paths according to a static environment map, but also the perception of and reaction to previ…
Frequency Domain Transformer Networks for Video Prediction
Hafez Farazi, Sven Behnke
The task of video prediction is forecasting the next frames given some previous frames. Despite much recent progress, this task is still challenging mainly due to high nonlinearity…