101 citations · 180 across the 13 of their papers we have counts for
20 papers
Aerial Assistance System for Automated Firefighting during Turntable Ladder Operations
Jan Quenzel, Valerij Sekin, Daniel Schleich +5
Fires in industrial facilities pose special challenges to firefighters, e.g., due to the sheer size and scale of the buildings. The resulting visual obstructions impair firefightin…
LIO-MARS: Non-uniform Continuous-time Trajectories for Real-time LiDAR-Inertial-Odometry
Jan Quenzel, Sven Behnke
Autonomous robotic systems heavily rely on environment knowledge to safely navigate. For search & rescue, a flying robot requires robust real-time perception, enabled by complement…
Remote Autonomy for Multiple Small Lowcost UAVs in GNSS-denied Search and Rescue Operations
Daniel Schleich, Jan Quenzel, Sven Behnke
In recent years, consumer-grade UAVs have been widely adopted by first responders. In general, they are operated manually, which requires trained pilots, especially in unknown GNSS…
LiDAR-based Registration against Georeferenced Models for Globally Consistent Allocentric Maps
Jan Quenzel, Linus T. Mallwitz, Benedikt T. Arnold +1
Modern unmanned aerial vehicles (UAVs) are irreplaceable in search and rescue (SAR) missions to obtain a situational overview or provide closeups without endangering personnel. How…
Lessons from Robot-Assisted Disaster Response Deployments by the German Rescue Robotics Center Task Force
Hartmut Surmann, Ivana Kruijff-Korbayova, Kevin Daun +11
Earthquakes, fire, and floods often cause structural collapses of buildings. The inspection of damaged buildings poses a high risk for emergency forces or is even impossible, thoug…
Real-Time Multi-Modal Semantic Fusion on Unmanned Aerial Vehicles with Label Propagation for Cross-Domain Adaptation
Simon Bultmann, Jan Quenzel, Sven Behnke
Unmanned aerial vehicles (UAVs) equipped with multiple complementary sensors have tremendous potential for fast autonomous or remote-controlled semantic scene analysis, e.g., for d…
Target Chase, Wall Building, and Fire Fighting: Autonomous UAVs of Team NimbRo at MBZIRC 2020
Marius Beul, Max Schwarz, Jan Quenzel +11
The Mohamed Bin Zayed International Robotics Challenge (MBZIRC) 2020 posed diverse challenges for unmanned aerial vehicles (UAVs). We present our four tailored UAVs, specifically d…
Real-Time Multi-Modal Semantic Fusion on Unmanned Aerial Vehicles
Simon Bultmann, Jan Quenzel, Sven Behnke
Unmanned aerial vehicles (UAVs) equipped with multiple complementary sensors have tremendous potential for fast autonomous or remote-controlled semantic scene analysis, e.g., for d…
LatticeNet: Fast Spatio-Temporal 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. Applying the same methods on 3D data still poses challen…
Autonomous Fire Fighting with a UAV-UGV Team at MBZIRC 2020
Jan Quenzel, Malte Splietker, Dmytro Pavlichenko +6
Every day, burning buildings threaten the lives of occupants and first responders trying to save them. Quick action is of essence, but some areas might not be accessible or too dan…
Team NimbRo's UGV Solution for Autonomous Wall Building and Fire Fighting at MBZIRC 2020
Christian Lenz, Jan Quenzel, Arul Selvam Periyasamy +7
Autonomous robotic systems for various applications including transport, mobile manipulation, and disaster response are becoming more and more complex. Evaluating and analyzing suc…
Real-time Multi-Adaptive-Resolution-Surfel 6D LiDAR Odometry using Continuous-time Trajectory Optimization
Jan Quenzel, Sven Behnke
Simultaneous Localization and Mapping (SLAM) is an essential capability for autonomous robots, but due to high data rates of 3D LiDARs real-time SLAM is challenging. We propose a r…
Autonomous Flight in Unknown GNSS-denied Environments for Disaster Examination
Daniel Schleich, Marius Beul, Jan Quenzel +1
Micro aerial vehicles (MAVs) have high potential for information gathering tasks to support situation awareness in search and rescue scenarios. Manually controlling MAVs in such sc…
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…
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…
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…
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…
Team NimbRo at MBZIRC 2017: Fast Landing on a Moving Target and Treasure Hunting with a Team of MAVs
Marius Beul, Matthias Nieuwenhuisen, Jan Quenzel +5
The Mohamed Bin Zayed International Robotics Challenge (MBZIRC) 2017 has defined ambitious new benchmarks to advance the state-of-the-art in autonomous operation of ground-based an…
Fast Autonomous Flight in Warehouses for Inventory Applications
Marius Beul, David Droeschel, Matthias Nieuwenhuisen +3
The past years have shown a remarkable growth in use-cases for micro aerial vehicles (MAVs). Conceivable indoor applications require highly robust environment perception, fast reac…