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| Book Chapters | Journal Articles | Conference and Workshop Papers | Other Publications | ||
| Book Chapters | ||
|---|---|---|
| 2012 | ||
| [] | Awareness of Road Scene Participants for Autonomous Driving , Chapter in Handbook of Intelligent Vehicles, Springer, 2012. | |
| Book Chapters | Journal Articles | Conference and Workshop Papers | Other Publications | ||
| Journal Articles | ||
| 2020 | ||
| [] | ARDEA—An MAV with skills for future planetary missions , In Journal of Field Robotics (JFR), 2020. | |
| [] | Relocalization With Submaps: Multi-Session Mapping for Planetary Rovers Equipped With Stereo Cameras , In IEEE Robotics and Automation Letters, volume 5, 2020. | |
| 2019 | ||
| [] | Augmented Autoencoders: Implicit 3D Orientation Learning for 6D Object Detection , In International Journal of Computer Vision, 2019. | |
| 2015 | ||
| [] | Introspective classification for robot perception , In The International Journal of Robotics Research (IJRR), 2015. | |
| 2010 | ||
| [] | Multiclass Multimodal Detection and Tracking in Urban Environments , In International Journal of Robotics Research, 2010. | |
| 2008 | ||
| [] | Monte Carlo localization in outdoor terrains using multilevel surface maps , In Journal of Field Robotics, volume 25, 2008. | |
| 2007 | ||
| [] | Non-iterative Vision-based Interpolation of 3D Laser Scans , In Autonomous Robots and Agents, volume 76, 2007. | |
| [] | An Efficient Extension to Elevation Maps for Outdoor Terrain Mapping and Loop Closing , In International Journal of Robotics Research (IJRR), volume 26, 2007. | |
| [] | Supervised semantic labeling of places using information extracted from sensor data , In Journal on Robotics and Autonomous Systems (RAS), volume 55, 2007. | |
| Book Chapters | Journal Articles | Conference and Workshop Papers | Other Publications | ||
| Conference and Workshop Papers | ||
| 2022 | ||
| [] | Challenges of SLAM in extremely unstructured environments: the DLR Planetary Stereo, Solid-State LiDAR, Inertial Dataset , In International Conference on Intelligent Robots and Systems (IROS), 2022. | |
| [] | The Probabilistic Robot Kinematics Model and its Application to Sensor Fusion , In International Conference on Intelligent Robots and Systems (IROS), 2022. | |
| [] | Bayesian Active Learning for Sim-to-Real Robotic Perception , In International Conference on Intelligent Robots and Systems (IROS), 2022. | |
| [] | A Two-stage Learning Architecture that Generates High-Quality Grasps for a Multi-Fingered Hand , In International Conference on Intelligent Robots and Systems (IROS), 2022. | |
| [] | RECALL: Rehearsal-free Continual Learning for Object Classification , In International Conference on Intelligent Robots and Systems (IROS), 2022. | |
| [] | Towards Safety-Aware Pedestrian Detection in Autonomous Systems , In International Conference on Intelligent Robots and Systems (IROS), 2022. | |
| [] | Towards Robust Perception of Unknown Objects in the Wild , In ICRA Workshop on Robotic Perception and Mapping: Emerging Techniques, 2022. | |
| [] | Iterative Corresponding Geometry: Fusing Region and Depth for Highly Efficient 3D Tracking of Textureless Objects , In IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2022. | |
| [] | Seeking Visual Discomfort: Curiosity-Driven Representations for Reinforcement Learning , In International Conference on Robotics and Automation (ICRA), 2022. | |
| [] | A Model for Multi-View Residual Covariances Based on Perspective Deformation , In International Conference on Robotics and Automation (ICRA), 2022. | |
| 2021 | ||
| [] | A Photorealistic Terrain Simulation Pipeline for Unstructured Outdoor Environments , In 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021. | |
| [] | Instance Segmentation in CARLA: Methodology and Analysis for Pedestrian-oriented Synthetic Data Generation in Crowded Scenes , In 2021 IEEE/CVF International Conference on Computer Vision Workshops (ICCVW), IEEE, 2021. | |
| [] | Unknown Object Segmentation from Stereo Images , In International Conference on Intelligent Robots and Systems, 2021. | |
| [] | Multi-Modal Loop Closing in Unstructured Planetary Environments with Visually Enriched Submaps , In 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021. | |
| [] | Learning-Based Matching of 3D Submaps from Dense Stereo for Planetary-Like Environments , In International Conference on Advanced Robotics (ICAR), 2021. | |
| [] |  | Kronecker-Factored Optimal Curvature , In Bayesian Deep Learning NeurIPS 2021 Workshop, 2021. ([poster]) |
| [] | Trust Your Robots! Predictive Uncertainty Estimation of Neural Networks with Sparse Gaussian Processes , In 5th Conference on Robot Learning (CoRL), 2021. | |
| [] |  | Towards Robust Monocular Visual Odometry for Flying Robots on Planetary Missions , In International Conference on Intelligent Robots and Systems (IROS), 2021. ([code][video]) |
| [] | From Evaluation to Verification: Towards Task-Oriented Relevance Metrics for Pedestrian Detection in Safety-Critical Domains , In Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) Workshops, 2021. | |
| [] |  | DOT: Dynamic Object Tracking for Visual SLAM , In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2021. |
| [] |  | Contact-GraspNet: Efficient 6-DoF Grasp Generation in Cluttered Scenes , In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2021. |
| [] |  | "What's This?" - Learning to Segment Unknown Objects from Manipulation Sequences , In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2021. |
| [] |  | Exploration of Large Outdoor Environments Using Multi-Criteria Decision Making , In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2021. |
| [] |  | Learning to Localize in New Environments from Synthetic Training Data , In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2021. |
| [] | Robust Approaches for Localization on Multi-camera Systems in Dynamic Environments , In Proceedings of the IEEE International Conference on Automation, Robotics and Applications(ICARA), 2021. | |
| 2020 | ||
| [] |  | Robust Vision-Based Pose Correction for a Robotic Manipulator using Active Markers , In 17th International Symposium on Experimental Robotics (ISER), 2020. (to appear) |
| [] |  | A Sparse Gaussian Approach to Region-Based 6DoF Object Tracking , In Asian Conference on Computer Vision, 2020. () Best Paper Award |
| [] |  | Incremental learning of EMG-based control commands using Gaussian Processes , In Conference on Robot Learning (CoRL), 2020. () |
| [] |  | Self-Supervised Object-in-Gripper Segmentation from Robotic Motions , In Conference on Robot Learning (CoRL), 2020. () |
| [] |  | Gaussian Process Gradient Maps for Loop-Closure Detection in Unstructured Planetary Environments , In International Conference on Intelligent Robots and Systems (IROS), 2020. (to appear) |
| [] |  | Robust MUSIC-Based Sound Source Localization in Reverberant and Echoic Environments , In International Conference on Intelligent Robots and Systems (IROS), 2020. (to appear) |
| [] |  | 3D Scene Reconstruction from a Single Viewport , In European Conference on Computer Vision (ECCV), 2020. |
| [] |  | Effective Version Space Reduction for Convolutional Neural Networks , In European Conference on Machine Learning and Data Mining (ECML-PKDD), 2020. ([arxiv]) |
| [] |  | Estimating Model Uncertainty of Neural Networks in Sparse Information Form , In International Conference on Machine Learning (ICML), 2020. |
| [] |  | Visual-Inertial Telepresence for Aerial Manipulation , In International Conference on Robotics and Automation (ICRA), 2020. |
| [] |  | Non-Parametric Calibration for Classification , In International Conference on Artificial Intelligence and Statistics (AISTATS), 2020. |
| [] |  | Multi-path Learning for Object Pose Estimation Across Domains , In IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2020. |
| [] |  | Information-Driven Direct RGB-D Odometry , In IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2020. Oral Presentation |
| 2019 | ||
| [] | Introspective Robot Perception using Smoothed Predictions from Bayesian Neural Networks , In International Symposium on Robotics Research (ISRR), 2019. | |
| [] | Visual-inertial sensor fusion with a bio-inspired polarization compass for navigation of MAVs , In 11th International Micro Air Vehicle Competition and Conference (IMAV), 2019. | |
| [] | Visual Repetition Sampling for Robot Manipulation Planning , In International Conference on Robotics and Automation (ICRA), 2019. | |
| 2018 | ||
| [] | Simultaneous Calibration and Mapping , In International Symposium on Experimental Robotics (ISER), 2018. | |
| [] | 6DoF Pose Estimation for Industrial Manipulation based on Synthetic Data , In International Symposium on Experimental Robotics (ISER), 2018. | |
| [] |  | Incremental Semi-Supervised Learning from Streams for Object Classification , In International Conference on Intelligent Robots and Systems (IROS), 2018. ([code]) |
| [] | Appearance-Based Along-Route Localization for Planetary Missions , In International Conference on Intelligent Robots and Systems (IROS), 2018. | |
| [] | Persistent Anytime Learning of Objects from Unseen Classes , In International Conference on Intelligent Robots and Systems (IROS), 2018. Best Cognitive Robotics Paper Finalist | |
| [] | Implicit 3D Orientation Learning for 6D Object Detection from RGB Images , In European Conference on Computer Vision (ECCV), 2018. Best Paper Award | |
| [] | Semantic Labeling of Indoor Environments from 3D RGB Maps , In International Conference on Robotics and Automation (ICRA), 2018. | |
| 2017 | ||
| [] | Experience-based Optimization of Robotic Perception , In International Conference on Advanced Robotics (ICAR), 2017. | |
| [] | How Robots Learn to Classify New Objects Trained from Small Data Sets , In Conference on Robot Learning (CoRL), 2017. | |
| [] | A Method for Hand-Eye and Camera-to-Camera Calibration for Limited Fields of View , In International Conference on Intelligent Robots and Systems (IROS), 2017. | |
| [] | Selecting CNN Features for Online Learning of 3D Objects , In International Conference on Intelligent Robots and Systems (IROS), 2017. | |
| 2016 | ||
| [] |  | Learning to Drive using Inverse Reinforcement Learning and Deep Q-Networks , In , NIPS Workshops, 2016. ([arxiv]) |
| [] |  | Non-Rigid 3D Shape Retrieval via Large Margin Nearest Neighbor Embedding , In European Conference on Computer Vision (ECCV), 2016. ([code]) |
| [] |  | Stream-based Active Learning for Efficient and Adaptive Classification of 3D Objects , In International Conference on Robotics and Automation (ICRA), 2016. |
| 2015 | ||
| [] |  | CAPTCHA Recognition with Active Deep Learning , In GCPR Workshop on New Challenges in Neural Computation, 2015. ([code]) |
| [] |  | Semi-supervised Online Learning for Efficient Classification of Objects in 3D Data Streams , In International Conference on Intelligent Robots and Systems (IROS), 2015. |
| [] |  | SPENCER: A Socially Aware Service Robot for Passenger Guidance and Help in Busy Airports , In Proc. Field and Service Robotics (FSR), 2015. |
| [] |  | Active Online Confidence Boosting for Efficient Object Classification , In Proc. IEEE International Conference on Robotics and Automation (ICRA), 2015. |
| 2014 | ||
| [] |  | Environment-adaptive Learning: How Clustering Helps to Obtain Good Training Data , In KI 2014: Advances in Artificial Intelligence (C Lutz, M Thielscher, eds.), Springer, 2014. |
| [] |  | Active Online Learning for Interactive Segmentation Using Sparse Gaussian Processes , In German Conference on Pattern Recognition, 2014. |
| [] |  | Optimal Intrinsic Descriptors for Non-Rigid Shape Analysis , In British Machine Vision Conference (BMVC), 2014. |
| 2013 | ||
| [] | Driven Learning for Driving: How Introspection Improves Semantic Mapping , In The International Symposium on Robotics Research (ISRR), 2013. | |
| [] | Introspective Active Learning for Scalable Semantic Mapping , In Workshop on Active Learning in Robotics: Exploration, Curiosity, and Interaction at Robotics: Science and Systems, 2013. | |
| [] | Confidence Boosting: Improving the Introspectiveness of a Boosted Classifier for Efficient Learning , In Autonomous Learning Workshop at ICRA, 2013. | |
| [] | Knowing When We Don’t Know: Introspective Classification for Mission-Critical Decision Making , In IEEE International Conference on Robotics and Automation (ICRA), 2013. | |
| [] | Toward Automated Driving in Cities using Close-to-Market Sensors , In Proc. of IEEE Intelligent Vehicles Symposium, 2013. | |
| 2012 | ||
| [] | Parsing Outdoor Scenes from Streamed 3D Laser Data Using Online Clustering and Incremental Belief Updates , In Robotics Track of AAAI Conference on Artificial Intelligence, 2012. | |
| [] | Semantic Categorization of Outdoor Scenes with Uncertainty Estimates using Multi-Class Gaussian Process Classification , In Proc. of the International Conference on Intelligent Robots and Systems (IROS), 2012. | |
| 2011 | ||
| [] | Bayesian On-line Learning of Driving Behaviors , In International Conference on Robotics and Automation (ICRA), 2011. | |
| [] | Unsupervised 3D Object Discovery and Categorization for Mobile Robots , In Proc. of the International Symposium on Robotics Research (ISRR), 2011. | |
| 2010 | ||
| [] | Inferring the Semantics of Direction Signs in Public Places , In International Conference on Robotics and Automation (ICRA), 2010. | |
| [] | Unsupervised Discovery of Repetitive Objects , In International Conference on Robotics and Automation (ICRA), 2010. | |
| [] | A Layered Approach to People Detection in 3D Range Data , In special track on Physically Grounded AI of AAAI, 2010. | |
| [] | Segmentation and Unsupervised Part-based Discovery of Repetitive Objects , In Robotics: Science and Systems, 2010. | |
| [] | Exploiting Repetitive Object Patterns for Model Compression and Completion , In European Conference on Computer Vision, 2010. | |
| [] |  | A Bayesian Approach to Learning 3D Representations of Dynamic Environments , In Proc. of The 12th International Symposium on Experimental Robotics (ISER), Springer Press, 2010. |
| 2009 | ||
| [] | Medial Features for Superpixel Segmentation , In Proc. of the IAPR Conference on Machine Vision Applications (MVA), 2009. | |
| [] | Multiclass Multimodal Detection and Tracking in Urban Environments , In Proc. of Field and Service Robotics (FSR), 2009. | |
| [] | Detecting Pedestrians at Very Small Scales , In Proc. of the International Conference on Intelligent Robots and Systems (IROS), 2009. | |
| 2008 | ||
| [] | Multimodal People Detection and Tracking in Crowded Scenes , In Proc. of the Twenty-Third Conference on Artificial Intelligence (AAAI), 2008. | |
| [] | Multimodal Detection and Tracking of Pedestrians in Urban Environments with Explicit Ground Plane Extraction , In Proc. of the International Conference on Intelligent Robots and Systems (IROS), 2008. | |
| 2007 | ||
| [] | Instance-based AMN Classification for Improved Object Recognition in 2D and 3D Laser Range Data , In Proc. of the International Joint Conference on Artificial Intelligence (IJCAI), 2007. | |
| [] | Towards Mapping of Cities , In International Conference on Robotics and Automation (ICRA), 2007. | |
| [] | Recovering the Shape of Objects in 3D Point Clouds with Partial Occlusions , In Proc. of the 6th International Conference on Field and Service Robotics (FSR), 2007. | |
| [] | Active Monte Carlo Localization in Outdoor Terrains using Multi-Level Surface Maps , In Fachgespräche Autonome Mobile Systeme (AMS), 2007. | |
| [] | Collective Classification for Labeling of Places and Objects in 2D and 3D Range Data , In Proc. of the 31th Annual Conference of the German Classification Society on Data Analysis, Machine Learning, and Applications, 2007. | |
| 2006 | ||
| [] | Vision-based Interpolation of 3D Laser Scans , In Proc. International Conference on Autonomous Robots and Agents (ICARA), 2006. | |
| [] | Robust 3D Scan Point Classification using Associative Markov Networks , In International Conference on Robotics and Automation (ICRA), 2006. | |
| [] | Multi-Level Surface Maps for Outdoor Terrain Mapping and Loop Closing , In Proc. of the International Conference on Intelligent Robots and Systems(IROS), 2006. | |
| 2005 | ||
| [] | Using Hierarchical EM to Extract Planes from 3D Range Scans , In International Conference on Robotics and Automation (ICRA), 2005. | |
| [] | Improving Simultaneous Localization and Mapping in 3D Using Global Constraints , In Proc. of the Twentieth National Conference on Artificial Intelligence (AAAI), 2005. | |
| [] | Improving Plane Extraction from 3D Data by Fusing Laser Data and Vision , In Proc. of the International Conference on Intelligent Robots and Systems(IROS), 2005. | |
| 2004 | ||
| [] | First steps towards a robotic system for flexible volumetric mapping of indoor environments , In Proc. of the 5th IFAC/EURON Symposium on Intelligent Autonomous Vehicles (IAV), 2004. | |
| 2003 | ||
| [] | Map Building with Mobile Robots in Dynamic Environments , In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), 2003. | |
| [] | A system for volumetric robotic mapping of underground mines , In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), 2003. | |
| Book Chapters | Journal Articles | Conference and Workshop Papers | Other Publications | ||
| Other Publications | ||
| 2015 | ||
| [] | Approaches for Efficient and Autonomous Learning in Robotics and Computer Vision , Habilitation thesis at TU Munich, Dep. of Computer Science, 2015. | |
