36 citations · 68 across the 15 of their papers we have counts for
17 papers
Self-Supervised Online Robot-Agnostic Traversability Estimation for Open-World Environments
Julia Hindel, Simon Bultmann, Houman Masnavi +2
Self-supervised online traversability estimation enables robots to continuously learn from unlabeled open-world experiences and adapt their navigation behavior toward safe and effi…
Joint Target-Less Intrinsic and Extrinsic Camera-LiDAR Calibration using Deep Point Correspondences
Simon Bultmann, Daniele Cattaneo, Abhinav Valada
Accurate camera-LiDAR calibration is a prerequisite for robust multi-modal perception in robotics. Recent target-less approaches based on deep point correspondences achieve remarka…
Effort-Based Criticality Metrics for Evaluating 3D Perception Errors in Autonomous Driving
Sharang Kaul, Simon Bultmann, Mario Berk +1
Criticality metrics such as time-to-collision (TTC) quantify collision urgency but do not distinguish the operational consequences of false-positive (FP) and false-negative (FN) pe…
Contour Errors: Ego-Centric Matching for 3D Multi-Object Tracking Performance Evaluation
Sharang Kaul, Simon Bultmann, Mario Berk +1
Open-loop performance evaluation of 3D multi-object tracking in autonomous driving requires matching criteria that effectively penalize translational, shape, and orientation errors…
RoboCup@Home 2024 OPL Winner NimbRo: Anthropomorphic Service Robots using Foundation Models for Perception and Planning
Raphael Memmesheimer, Jan Nogga, Bastian Pätzold +8
We present the approaches and contributions of the winning team NimbRo@Home at the RoboCup@Home 2024 competition in the Open Platform League held in Eindhoven, NL. Further, we desc…
Marker-free Human Gait Analysis using a Smart Edge Sensor System
Eva Katharina Bauer, Simon Bultmann, Sven Behnke
The human gait is a complex interplay between the neuronal and the muscular systems, reflecting an individual's neurological and physiological condition. This makes gait analysis a…
Anticipating Human Behavior for Safe Navigation and Efficient Collaborative Manipulation with Mobile Service Robots
Simon Bultmann, Raphael Memmesheimer, Jan Nogga +2
The anticipation of human behavior is a crucial capability for robots to interact with humans safely and efficiently. We employ a smart edge sensor network to provide global observ…
External Camera-based Mobile Robot Pose Estimation for Collaborative Perception with Smart Edge Sensors
Simon Bultmann, Raphael Memmesheimer, Sven Behnke
We present an approach for estimating a mobile robot's pose w.r.t. the allocentric coordinates of a network of static cameras using multi-view RGB images. The images are processed…
Object-level 3D Semantic Mapping using a Network of Smart Edge Sensors
Julian Hau, Simon Bultmann, Sven Behnke
Autonomous robots that interact with their environment require a detailed semantic scene model. For this, volumetric semantic maps are frequently used. The scene understanding can…
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…
Online Marker-free Extrinsic Camera Calibration using Person Keypoint Detections
Bastian Pätzold, Simon Bultmann, Sven Behnke
Calibration of multi-camera systems, i.e. determining the relative poses between the cameras, is a prerequisite for many tasks in computer vision and robotics. Camera calibration i…
3D Semantic Scene Perception using Distributed Smart Edge Sensors
Simon Bultmann, Sven Behnke
We present a system for 3D semantic scene perception consisting of a network of distributed smart edge sensors. The sensor nodes are based on an embedded CNN inference accelerator…
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…
6D Object Pose Estimation using Keypoints and Part Affinity Fields
Moritz Zappel, Simon Bultmann, Sven Behnke
The task of 6D object pose estimation from RGB images is an important requirement for autonomous service robots to be able to interact with the real world. In this work, we present…
Real-Time Multi-View 3D Human Pose Estimation using Semantic Feedback to Smart Edge Sensors
Simon Bultmann, Sven Behnke
We present a novel method for estimation of 3D human poses from a multi-camera setup, employing distributed smart edge sensors coupled with a backend through a semantic feedback lo…
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…