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Books | Book Chapters | Journal Articles | Conference and Workshop Papers | PhD Thesis | Technical Reports | Other Publications
Books
2013
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Approaches to Probabilistic Model Learning for Mobile Manipulation Robots , Springer, 2013.
Books | Book Chapters | Journal Articles | Conference and Workshop Papers | PhD Thesis | Technical Reports | Other Publications
Book Chapters
2012
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Body Schema Learning , Chapter in Towards Service Robots for Everyday Environments, Springer Berlin/Heidelberg, 2012.
Books | Book Chapters | Journal Articles | Conference and Workshop Papers | PhD Thesis | Technical Reports | Other Publications
Journal Articles
2014
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Scale-Aware Navigation of a Low-Cost Quadrocopter with a Monocular Camera , In Robotics and Autonomous Systems (RAS), volume 62, 2014.
2013
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Introduction to the special issue on visual understanding and applications with RGB-D cameras , In Journal of Visual Communication and Image Representation (JVCI), 2013.
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3D Mapping with an RGB-D Camera , In IEEE Transactions on Robotics (T-RO), volume 30, 2013.
2012
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Online-6D-SLAM für RGB-D-Sensoren , In at - Automatisierungstechnik, volume 60, 2012.
2011
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A Probabilistic Framework for Learning Kinematic Models of Articulated Objects , In Journal on Artificial Intelligence Research (JAIR), volume 41, 2011.
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Tactile Sensing for Mobile Manipulation , In IEEE Transactions on Robotics (T-RO), 2011.
2009
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An appearance-based visual compass for mobile robots , In Robotics and Autonomous Systems, volume 57, 2009.
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Body schema learning for robotic manipulators from visual self-perception , In Journal of Physiology-Paris, volume 103, 2009. (Neurorobotics)
Books | Book Chapters | Journal Articles | Conference and Workshop Papers | PhD Thesis | Technical Reports | Other Publications
Conference and Workshop Papers
2017
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De-noising, Stabilizing and Completing 3D Reconstructions On-the-go using Plane Priors , In International Conference on Robotics and Automation (ICRA), 2017. ([video])
2014
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Towards Illumination-invariant 3D Reconstruction using ToF RGB-D Cameras , In International Conference on 3D Vision (3DV), 2014. ([supplementary])
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INS-Camera Calibration without Ground Control Points , In 9th IEEE ISIF Workshop on Sensor Data Fusion: Trends, Solutions, Applications (SDF), 2014.
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Visual-Inertial Navigation for a Camera-Equipped 25g Nano-Quadrotor , In IROS2014 Aerial Open Source Robotics Workshop, 2014.
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Submap-based Bundle Adjustment for 3D Reconstruction from RGB-D Data , In German Conference on Pattern Recognition (GCPR), 2014. ([slides])
Oral Presentation [] 
Collision Avoidance for Quadrotors with a Monocular Camera , In Proc. of The 12th International Symposium on Experimental Robotics (ISER), 2014.
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Volumetric 3D Mapping in Real-Time on a CPU , In International Conference on Robotics and Automation (ICRA), 2014.
2013
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Interactive Person Following and Gesture Recognition with a Flying Robot , In Proc. of the Assistance and Service Robotics Workshop (ASROB) at the IEEE. Int. Conf. on Intelligent Robots and Systems (IROS), 2013.
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Large-Scale Multi-Resolution Surface Reconstruction from RGB-D Sequences , In IEEE International Conference on Computer Vision (ICCV), 2013.
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Semi-Dense Visual Odometry for a Monocular Camera , In IEEE International Conference on Computer Vision (ICCV), 2013.
[] CopyMe3D: Scanning and Printing Persons in 3D , In German Conference on Pattern Recognition (GCPR), 2013.
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Graph-based bundle adjustment for INS-camera calibration , In Unmanned Aerial Vehicle in Geomatics (UAV-g), 2013.
Best research paper award [] 
Dense Tracking and Mapping with a Quadrocopter , In Unmanned Aerial Vehicle in Geomatics (UAV-g), 2013.
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Scale-Aware Object Tracking with Convex Shape Constraints on RGB-D Images , In German Conference on Pattern Recognition (GCPR), 2013.
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FollowMe: Person Following and Gesture Recognition with a Quadrocopter , In Proc. of the Int. Conf. on Intelligent Robot Systems (IROS), 2013.
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Dense Visual SLAM for RGB-D Cameras , In Proc. of the Int. Conf. on Intelligent Robot Systems (IROS), 2013.
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Learning Probabilistic Models for Mobile Manipulation Robots , In Proc. of the International Joint Conference on Artificial Intelligence (IJCAI), Track on Best papers in Sister Conferences, 2013.
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Direct Camera Pose Tracking and Mapping With Signed Distance Functions , In Demo Track of the RGB-D Workshop on Advanced Reasoning with Depth Cameras at the Robotics: Science and Systems Conference (RSS), 2013.
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Real-Time Camera Tracking and 3D Reconstruction Using Signed Distance Functions , In Robotics: Science and Systems Conference (RSS), 2013.
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Robust Odometry Estimation for RGB-D Cameras , In International Conference on Robotics and Automation (ICRA), 2013.
Best Vision Paper Award - Finalist
2012
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Evaluating Egomotion and Structure-from-Motion Approaches Using the TUM RGB-D Benchmark , In Proc. of the Workshop on Color-Depth Camera Fusion in Robotics at the IEEE/RJS International Conference on Intelligent Robot Systems (IROS), 2012.
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Accurate Figure Flying with a Quadrocopter Using Onboard Visual and Inertial Sensing , In Proc. of the Workshop on Visual Control of Mobile Robots (ViCoMoR) at the IEEE/RJS International Conference on Intelligent Robot Systems (IROS), 2012.
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A Benchmark for the Evaluation of RGB-D SLAM Systems , In Proc. of the International Conference on Intelligent Robot Systems (IROS), 2012.
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Camera-Based Navigation of a Low-Cost Quadrocopter , In Proc. of the International Conference on Intelligent Robot Systems (IROS), 2012.
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Real-Time Human Motion Tracking using Multiple Depth Cameras , In Proc. of the International Conference on Intelligent Robot Systems (IROS), 2012.
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A Generalized Framework for Opening Doors and Drawers in Kitchen Environments , In International Conference on Robotics and Automation (ICRA), 2012.
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An Evaluation of the RGB-D SLAM System , In International Conference on Robotics and Automation (ICRA), 2012.
2011
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Mobile Manipulation of Kitchen Containers , In Proc. of the IROS'11 Workshop on Results, Challenges and Lessons Learned in Advancing Robots with a Common Platform, 2011.
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Real-Time Visual Odometry from Dense RGB-D Images , In Workshop on Live Dense Reconstruction with Moving Cameras at the Intl. Conf. on Computer Vision (ICCV), 2011.
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Towards a benchmark for RGB-D SLAM evaluation , In Proc. of the RGB-D Workshop on Advanced Reasoning with Depth Cameras at Robotics: Science and Systems Conf. (RSS), 2011.
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Real-time 3D visual SLAM with a hand-held camera , In Proc. of the RGB-D Workshop on 3D Perception in Robotics at the European Robotics Forum, 2011.
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Learning the State Transition Model to Efficiently Clean Surfaces with Mobile Manipulation Robots , In Proc. of the Workshop on Manipulation under Uncertainty at the IEEE Int. Conf. on Robotics and Automation (ICRA), 2011.
2010
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Operating Articulated Objects Based on Experience , In Proc. of the International Conference on Intelligent Robot Systems (IROS), 2010.
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Tactile Object Class and Internal State Recognition for Mobile Manipulation , In International Conference on Robotics and Automation (ICRA), 2010.
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Vision-based Detection for Learning Articulation Models of Cabinet Doors and Drawers in Household Environments , In International Conference on Robotics and Automation (ICRA), 2010.
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3D Pose Estimation, Tracking and Model Learning of Articulated Objects from Dense Depth Video using Projected Texture Stereo , In Proc. of the Workshop on Advanced Reasoning with Depth Cameras at the Robotics: Science and Systems Conference (RSS), 2010.
2009
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Object Identification with Tactile Sensors Using Bag-of-Features , In Proc. of the International Conference on Intelligent Robot Systems (IROS), 2009.
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Regression-Based Online Situation Recognition for Vehicular Traffic Scenarios , In Proc. of the International Conference on Intelligent Robot Systems (IROS), 2009.
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Learning Kinematic Models for Articulated Objects , In Proc. of the International Joint Conference on Artificial Intelligence (IJCAI), 2009.
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Towards Understanding Articulated Objects , In Proc. of the Workshop on Robot Manipulation at Robotics: Science and Systems Conference (RSS), 2009.
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Learning Kinematics from Direct Self-Observation Using Nearest-Neighbor Methods , In Proc. of the German Workshop on Robotics, 2009.
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Imitation Learning with Generalized Task Descriptions , In International Conference on Robotics and Automation (ICRA), 2009.
2008
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Body Scheme Learning and Life-Long Adaptation for Robotic Manipulation , In Proc. of the Workshop on Robot Manipulation at the Robotics: Science and Systems Conference (RSS), 2008.
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Adaptive Body Scheme Models for Robust Robotic Manipulation , In Robotics: Science and Systems Conference (RSS), 2008.
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Unsupervised Body Scheme Learning through Self-Perception , In International Conference on Robotics and Automation (ICRA), 2008.
2006
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Dutch AIBO Team at RoboCup 2006 , In Proceedings CD RoboCup 2006, Bremen, Germany, 2006.
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Robot companion localization at home and in the office , In Proc. of the Belgian-Netherlands Artificial Intelligence Conference (BNAIC), 2006.
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Panoramic Localization in the 4-Legged League , In Proc. of the RoboCup International Symposium (G. Lakemeyer, E. Sklar, D. Sorrenti, T. Takahashi, eds.), Springer, volume 4434, 2006.
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Autonomous Color Learning in an Artificial Environment , In Proc. of the Belgian-Netherlands Artificial Intelligence Conference (BNAIC), 2006.
2005
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Dutch AIBO Team at RoboCup 2005 , In Proceedings CD RoboCup 2005, Osaka, Japan, 2005.
Books | Book Chapters | Journal Articles | Conference and Workshop Papers | PhD Thesis | Technical Reports | Other Publications
PhD Thesis
2011
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Approaches to Probabilistic Model Learning for Mobile Manipulation Robots , PhD thesis, University of Freiburg, 2011.
Received the Artificial Intelligence Dissertation Award 2011 (ECCAI) and the Wolfgang-Genter-Award 2011 (University of Freiburg); Finalist at the Georges-Giralt-Award 2012 (EURON); Selected for the Best Paper Track at IJCAI 2013 Books | Book Chapters | Journal Articles | Conference and Workshop Papers | PhD Thesis | Technical Reports | Other Publications
Technical Reports
2006
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Dutch Aibo Team: Technical Report RoboCup 2006 , Technical report, Dutch Aibo Team, 2006.
2005
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Dutch Aibo Team: Technical Report RoboCup 2005 , Technical report, Dutch Aibo Team, 2005.
Books | Book Chapters | Journal Articles | Conference and Workshop Papers | PhD Thesis | Technical Reports | Other Publications
Other Publications
2013
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Lecture Notes: Visual Navigation for Flying Robots , Technische Universität München, Germany, 2013.
Distinguished with the TUM TeachInf Award for the best lecture in summer term 2013
2012
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Lecture Notes: Visual Navigation for Flying Robots , Technische Universität München, Germany, 2012.
Distinguished with the TUM TeachInf Award for the best lecture in summer term 2012
2006
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An appearance-based Visual Compass for Mobile Robots , Master's thesis, University of Amsterdam, 2006.
