194 citations · 1.5k across the 123 of their papers we have counts for
16 papers · 1 filter
EasyPBR: A Lightweight Physically-Based Renderer
Radu Alexandru Rosu, Sven Behnke
Modern rendering libraries provide unprecedented realism, producing real-time photorealistic 3D graphics on commodity hardware. Visual fidelity, however, comes at the cost of incre…
Capture Steps: Robust Walking for Humanoid Robots
Marcell Missura, Maren Bennewitz, Sven Behnke
Stable bipedal walking is a key prerequisite for humanoid robots to reach their potential of being versatile helpers in our everyday environments. Bipedal walking is, however, a co…
Autonomous Wall Building with a UGV-UAV Team at MBZIRC 2020
Christian Lenz, Max Schwarz, Andre Rochow +4
Constructing large structures with robots is a challenging task with many potential applications that requires mobile manipulation capabilities. We present two systems for autonomo…
Trajectory Generation with Fast Lidar-based 3D Collision Avoidance for Agile MAVs
Marius Beul, Sven Behnke
Micro aerial vehicles (MAVs), are frequently used for exploration, examination, and surveillance during search and rescue missions. Manually piloting these robots under stressful c…
Visually Guided Balloon Popping with an Autonomous MAV at MBZIRC 2020
Marius Beul, Simon Bultmann, Andre Rochow +4
Visually guided control of micro aerial vehicles (MAV) demands for robust real-time perception, fast trajectory generation, and a capable flight platform. We present a fully autono…
Robust Skeletonization for Plant Root Structure Reconstruction from MRI
Jannis Horn, Yi Zhao, Nils Wandel +3
Structural reconstruction of plant roots from MRI is challenging, because of low resolution and low signal-to-noise ratio of the 3D measurements which may lead to disconnectivities…
NimbRo-OP2X: Affordable Adult-sized 3D-printed Open-Source Humanoid Robot for Research
Grzegorz Ficht, Hafez Farazi, Diego Rodriguez +4
For several years, high development and production costs of humanoid robots restricted researchers interested in working in the field. To overcome this problem, several research gr…
Category-Level 3D Non-Rigid Registration from Single-View RGB Images
Diego Rodriguez, Florian Huber, Sven Behnke
In this paper, we propose a novel approach to solve the 3D non-rigid registration problem from RGB images using Convolutional Neural Networks (CNNs). Our objective is to find a def…
Fast Whole-Body Motion Control of Humanoid Robots with Inertia Constraints
Grzegorz Ficht, Sven Behnke
We introduce a new, analytical method for generating whole-body motions for humanoid robots, which approximate the desired Composite Rigid Body (CRB) inertia. Our approach uses a r…
Multi-Staged Cross-Lingual Acoustic Model Adaption for Robust Speech Recognition in Real-World Applications -- A Case Study on German Oral History Interviews
Michael Gref, Oliver Walter, Christoph Schmidt +2
While recent automatic speech recognition systems achieve remarkable performance when large amounts of adequate, high quality annotated speech data is used for training, the same s…
NAT: Noise-Aware Training for Robust Neural Sequence Labeling
Marcin Namysl, Sven Behnke, Joachim Köhler
Sequence labeling systems should perform reliably not only under ideal conditions but also with corrupted inputs - as these systems often process user-generated text or follow an e…
Stillleben: Realistic Scene Synthesis for Deep Learning in Robotics
Max Schwarz, Sven Behnke
Training data is the key ingredient for deep learning approaches, but difficult to obtain for the specialized domains often encountered in robotics. We describe a synthesis pipelin…
Motion Segmentation using Frequency Domain Transformer Networks
Hafez Farazi, Sven Behnke
Self-supervised prediction is a powerful mechanism to learn representations that capture the underlying structure of the data. Despite recent progress, the self-supervised video pr…
Visual Descriptor Learning from Monocular Video
Umashankar Deekshith, Nishit Gajjar, Max Schwarz +1
Correspondence estimation is one of the most widely researched and yet only partially solved area of computer vision with many applications in tracking, mapping, recognition of obj…
Beyond Photometric Consistency: Gradient-based Dissimilarity for Improving Visual Odometry and Stereo Matching
Jan Quenzel, Radu Alexandru Rosu, Thomas Läbe +2
Pose estimation and map building are central ingredients of autonomous robots and typically rely on the registration of sensor data. In this paper, we investigate a new metric for…
3D U-Net for Segmentation of Plant Root MRI Images in Super-Resolution
Yi Zhao, Nils Wandel, Magdalena Landl +2
Magnetic resonance imaging (MRI) enables plant scientists to non-invasively study root system development and root-soil interaction. Challenging recording conditions, such as low r…