Publications

Reviewed Publications with Project Acknowledgement

Youness Dehbi and Gerhard Gröger and Lutz Plümer, "Identification and Modelling of Translational and Axial Symmetries and their Hierarchical Structures in Building Footprints by Formal Grammars", Transactions in GIS., pp. n/a-n/a. 2016.

@article{Dehbi2015Identification,
  author = {Dehbi, Youness and Gr\"oger, Gerhard and Pl\"umer, Lutz},
  title = {Identification and Modelling of Translational and Axial Symmetries and their Hierarchical Structures in Building Footprints by Formal Grammars},
  journal = {Transactions in GIS},
  year = {2016},
  pages = {n/a--n/a},
  url = {http://dx.doi.org/10.1111/tgis.12177},
  doi = {10.1111/tgis.12177}
}

Youness Dehbi and Christiane Staat and Leonard Mandtler and Lutz Plümer, "Incremental Refinement of Facade Models with Attribute Grammar from 3D Point Clouds", In ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences. 2016.

@conference{dehbi2016incremental,
  author = {Youness Dehbi and Christiane Staat and Leonard Mandtler and Lutz Pl\"umer},
  title = {Incremental Refinement of Facade Models with Attribute Grammar from 3D Point Clouds},
  booktitle = {ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences},
  year = {2016}
}

Youness Dehbi and Fabian Hadiji and Gerhard Gröger and Kristian Kersting and Lutz Plümer, "Statistical Relational Learning of Grammar Rules for 3D Building Reconstruction", Transactions in GIS. 2015.

@article{Dehbi2015Statistical,
  author = {Dehbi, Youness and Hadiji, Fabian and Gr{\"o}ger, Gerhard and Kersting, Kristian and Pl{\"u}mer, Lutz},
  title = {Statistical Relational Learning of Grammar Rules for 3D Building Reconstruction},
  journal = {Transactions in GIS},
  year = {2015}
}

Sandra Loch-Dehbi and Lutz Plümer, "Predicting building façade structures with multilinear Gaussian graphical models based on few observations", Computer, Environment and Urban Systems. Vol. 54, pp. 68-81. 2015.

@article{Loch-Dehbi2015Predicting,
  author = {Loch-Dehbi, Sandra and Pl{\"u}mer, Lutz},
  title = {Predicting building façade structures with multilinear Gaussian graphical models based on few observations},
  journal = {Computer, Environment and Urban Systems},
  year = {2015},
  volume = {54},
  pages = {68--81},
  doi = {10.1016/j.compenvurbsys.2015.05.004}
}

Marko Ristin and Juergen Gall and Matthieu Guillaumin and Luc Van Gool, "From Categories to Subcategories: Large-Scale Image Classification With Partial Class Label Refinement", In The IEEE Conference on Computer Vision and Pattern Recognition (CVPR). 2015.

@inproceedings{Ristin_2015_CVPR,
  author = {Ristin, Marko and Gall, Juergen and Guillaumin, Matthieu and Van Gool, Luc},
  title = {From Categories to Subcategories: Large-Scale Image Classification With Partial Class Label Refinement},
  booktitle = {The IEEE Conference on Computer Vision and Pattern Recognition (CVPR)},
  year = {2015}
}

Fabian Aiteanu and Reinhard Klein, "Hybrid tree reconstruction from inhomogeneous point clouds", The Visual Computer., To appear in Special Issue for CGI 2014 of The Visual Computer. Vol. 30(6-8), pp. 763-771. Springer Berlin Heidelberg. 2014.

@article{aiteanu2014,
  author = {Aiteanu, Fabian and Klein, Reinhard},
  title = {Hybrid tree reconstruction from inhomogeneous point clouds},
  journal = {The Visual Computer},
  publisher = {Springer Berlin Heidelberg},
  year = {2014},
  volume = {30},
  number = {6-8},
  pages = {763-771},
  doi = {10.1007/s00371-014-0977-7}
}

David Droeschel and Dirk Holz and Sven Behnke, "Omnidirectional Perception for Lightweight MAVs using a Continously Rotationg 3D Laser Scanner", Photogrammetrie Fernerkundung Geoinformation. 2014.

@article{Droeschel_PFG2014,
  author = {David Droeschel and Dirk Holz and Sven Behnke},
  title = {Omnidirectional Perception for Lightweight MAVs using a Continously Rotationg 3D Laser Scanner},
  journal = {Photogrammetrie Fernerkundung Geoinformation},
  year = {2014},
  note = {to appear}
}

Christian Eling and Lasse Klingbeil and Markus Wieland and Heiner Kuhlmann, "Direct Georeferencing of Micro Aerial Vehicles - System Design, System Calibration and First Evaluation Tests", PFG - Photogrammetrie, Fernerkundung, Geoinformation. Vol. 4, pp. in press. 2014.

@article{eling*14:pfg,
  author = {Eling, Christian and Klingbeil, Lasse and Wieland, Markus and Kuhlmann, Heiner},
  title = {Direct Georeferencing of Micro Aerial Vehicles - System Design, System Calibration and First Evaluation Tests},
  journal = {PFG - Photogrammetrie, Fernerkundung, Geoinformation},
  year = {2014},
  volume = {4},
  pages = {in press}
}

Lasse Klingbeil and Christian Eling and Florian Zimmermann and Heiner Kuhlmann, "Magnetic Field Sensor Calibration for Attitude Determination", Journal of Applied Geodesy. Vol. Band 8, Heft 2, ISSN (Online) 1862-9024, ISSN (Print) 1862-9016, DOI: 10.1515/jag-2014-0003, pp. 97 -108. 2014.

@article{klingbeil*14:magnetic,
  author = {Klingbeil, Lasse and Eling, Christian and Zimmermann, Florian and Kuhlmann, Heiner},
  title = {Magnetic Field Sensor Calibration for Attitude Determination},
  journal = {Journal of Applied Geodesy},
  year = {2014},
  volume = {Band 8, Heft 2, ISSN (Online) 1862-9024, ISSN (Print) 1862-9016, DOI: 10.1515/jag-2014-0003},
  pages = {97 --108},
  doi = {10.1515/jag-2014-0003}
}

Lasse Klingbeil and Heiner Kuhlmann, "Sensoren für kinematische Anwendungen", Allgemeine Vermessungsnachrichten. Vol. 5/2014, Wichmann Verlag, Berlin, pp. 186-191. 2014.

@article{klingbeil*14:sensoren,
  author = {Klingbeil, Lasse and Kuhlmann, Heiner},
  title = {Sensoren für kinematische {A}nwendungen},
  journal = {Allgemeine Vermessungsnachrichten},
  year = {2014},
  volume = {5/2014, Wichmann Verlag, Berlin},
  pages = {186--191}
}

Marius Beul and Rainer Worst and Sven Behnke, "Nonlinear Model-based Position Control for Quadrotor UAVs", In Proceedings of Joint 45th International Symposium on Robotics (ISR) and 8th German Conference on Robotics (ROBOTIK), München. 2014.

@inproceedings{Beul_Robotik2014:PositionControl,
  author = {Marius Beul and Rainer Worst and Sven Behnke},
  title = {Nonlinear Model-based Position Control for Quadrotor {UAVs}},
  booktitle = {Proceedings of Joint 45th International Symposium on Robotics (ISR) and 8th German Conference on Robotics (ROBOTIK), München},
  year = {2014}
}

David Droeschel and Jörg Stückler and Sven Behnke, "Local Multi-Resolution Surfel Grids for MAV Motion Estimation and 3D Mapping", In Proc. of 13th Int. Conf. on Intelligent Autonomous Systems (IAS)., July, 2014. 2014.

@inproceedings{droeschel:IAS2014,
  author = {David Droeschel and J\"org St\"uckler and Sven Behnke},
  title = {Local Multi-Resolution Surfel Grids for MAV Motion Estimation and 3D Mapping},
  booktitle = {Proc.\ of 13th Int.\ Conf.\ on Intelligent Autonomous Systems (IAS)},
  year = {2014}
}

David Droeschel and Jörg Stückler and Sven Behnke, "Local Multiresolution Representation for 6D Motion Estimation and Mapping with a Continuously Rotating 3D Laser Scanner", In Proc. of IEEE Int. Conf. on Robotics and Automation (ICRA). 2014.

@inproceedings{droeschel:ICRA2014,
  author = {David Droeschel and J\"org St\"uckler and Sven Behnke},
  title = {Local Multiresolution Representation for {6D} Motion Estimation and Mapping with a Continuously Rotating {3D} Laser Scanner},
  booktitle = {Proc.\ of IEEE Int.\ Conf.\ on Robotics and Automation (ICRA)},
  year = {2014}
}

David Droeschel and Sven Behnke, "3D Local Multiresolution Grid for Aggregation of Omnidirectional Distance Measurements on a Micro Aerial Vehicle", In Proc. of Joint 45th Int. Symp. on Robotics (ISR) and 8th German Conf. on Robotics (ROBOTIK). 2014.

@inproceedings{droeschel:Robotik2014,
  author = {David Droeschel and Sven Behnke},
  title = {{3D} Local Multiresolution Grid for Aggregation of Omnidirectional Distance Measurements on a Micro Aerial Vehicle},
  booktitle = {Proc.\ of Joint 45th Int.\ Symp.\ on Robotics (ISR) and 8th German Conf.\ on Robotics (ROBOTIK)},
  year = {2014}
}

Christian Eling and Lasse Klingbeil and Heiner Kuhlmann, "Development of an RTK-GPS System for Precise Real-time Positioning of Lightweight UAVs", In Beiträge zum 17. Internationalen Ingenieurvermessungskurs, Zürich., pp. 111-123. 2014.

@inproceedings{eling*14:development,
  author = {Eling, Christian and Klingbeil, Lasse and Kuhlmann, Heiner},
  title = {Development of an {RTK}-{GPS} System for Precise Real-time Positioning of Lightweight {UAV}s},
  booktitle = {Beitr{\"a}ge zum 17. Internationalen Ingenieurvermessungskurs, Z{\"u}rich},
  year = {2014},
  pages = {111--123}
}

Dirk Holz and Sven Behnke, "Mapping with Micro Aerial Vehicles by Registration of Sparse 3D Laser Scans", In Proc. of 13th Int. Conf. on Intelligent Autonomous Systems (IAS)., July, 2014. 2014.

@inproceedings{holz:IAS2014,
  author = {Dirk Holz and Sven Behnke},
  title = {Mapping with Micro Aerial Vehicles by Registration of Sparse {3D} Laser Scans},
  booktitle = {Proc.\ of 13th Int.\ Conf.\ on Intelligent Autonomous Systems (IAS)},
  year = {2014}
}

Dirk Holz and Sven Behnke, "Registration of Non-Uniform Density 3D Point Clouds using Approximate Surface Reconstruction", In Proc. of Joint 45th Int. Symp. on Robotics (ISR) and 8th German Conf. on Robotics (ROBOTIK). 2014.

@inproceedings{holz:Robotik2014,
  author = {Dirk Holz and Sven Behnke},
  title = {Registration of Non-Uniform Density {3D} Point Clouds using Approximate Surface Reconstruction},
  booktitle = {Proc.\ of Joint 45th Int.\ Symp.\ on Robotics (ISR) and 8th German Conf.\ on Robotics (ROBOTIK)},
  year = {2014}
}

Lasse Klingbeil and Matthias Nieuwenhuisen and Johannes Schneider and Christian Eling and David Droeschel and Dirk Holz and Thomas Läbe and Wolfgang Förstner and Sven Behnke and Heiner Kuhlmann, "Towards Autonomous Navigation of an UAV-based Mobile Mapping System", In Proceedings of 4th International Conference on Machine Control & Guidance (MCG). Braunschweig 2014.

@inproceedings{Klingbeil:MCG2014,
  author = {Lasse Klingbeil and Matthias Nieuwenhuisen and Johannes Schneider and Christian Eling and David Droeschel and Dirk Holz and Thomas L\"abe and Wolfgang F\"orstner and Sven Behnke and Heiner Kuhlmann},
  title = {Towards Autonomous Navigation of an {UAV}-based Mobile Mapping System},
  booktitle = {Proceedings of 4th International Conference on Machine Control \& Guidance (MCG)},
  year = {2014}
}

Matthias Nieuwenhuisen and Sven Behnke, "Layered Mission and Path Planning for MAV Navigation with Partial Environment Knowledge", In Proceedings of 13th International Conference on Intelligent Autonomous Systems (IAS). Padova, Italy 2014.

@inproceedings{Nieuwenhuisen:IAS2014,
  author = {Matthias Nieuwenhuisen and Sven Behnke},
  title = {Layered Mission and Path Planning for MAV Navigation with Partial Environment Knowledge},
  booktitle = {Proceedings of 13th International Conference on Intelligent Autonomous Systems (IAS)},
  year = {2014}
}

Matthias Nieuwenhuisen and Marius Beul and David Droeschel and Sven Behnke, "Obstacle Detection, Navigation Planning, and Motion Control for Autonomous Micro Aerial Vehicles", In Proceedings of International Conference on Unmanned Aircraft Systems (ICUAS). Orlando, USA 2014.

@inproceedings{Nieuwenhuisen:ICUAS2014,
  author = {Matthias Nieuwenhuisen and Marius Beul and David Droeschel and Sven Behnke},
  title = {Obstacle Detection, Navigation Planning, and Motion Control for Autonomous Micro Aerial Vehicles},
  booktitle = {Proceedings of International Conference on Unmanned Aircraft Systems (ICUAS)},
  year = {2014}
}

Matthias Nieuwenhuisen and Sven Behnke, "Hierarchical Planning with 3D Local Multiresolution Obstacle Avoidance for Micro Aerial Vehicles", In Proceedings of Joint 45th International Symposium on Robotics (ISR) and 8th German Conference on Robotics (ROBOTIK). München 2014.

@inproceedings{Nieuwenhuisen:Robotik2014,
  author = {Matthias Nieuwenhuisen and Sven Behnke},
  title = {Hierarchical Planning with {3D} Local Multiresolution Obstacle Avoidance for Micro Aerial Vehicles},
  booktitle = {Proceedings of Joint 45th International Symposium on Robotics (ISR) and 8th German Conference on Robotics (ROBOTIK)},
  year = {2014}
}

Sebastian Ochmann and Richard Vock and Raoul Wessel and Martin Tamke and Reinhard Klein, "Automatic Generation of Structural Building Descriptions from 3D Point Cloud Scans", In GRAPP 2014 - International Conference on Computer Graphics Theory and Applications., January, 2014. SCITEPRESS. 2014.

We present a new method for automatic semantic structuring of 3D point clouds representing buildings. In contrast to existing approaches which either target the outside appearance like the facade structure or rather low-level geometric structures, we focus on the building's interior using indoor scans to derive high-level architectural entities like rooms and doors. Starting with a registered 3D point cloud, we probabilistically model the affiliation of each measured point to a certain room in the building. We solve the resulting clustering problem using an iterative algorithm that relies on the estimated visibilities between any two locations within the point cloud. With the segmentation into rooms at hand, we subsequently determine the locations and extents of doors between adjacent rooms. In our experiments, we demonstrate the feasibility of our method by applying it to synthetic as well as to real-world data.

@inproceedings{ochmann_2014,
  author = {Ochmann, Sebastian and Vock, Richard and Wessel, Raoul and Tamke, Martin and Klein, Reinhard},
  title = {Automatic Generation of Structural Building Descriptions from 3D Point Cloud Scans},
  booktitle = {GRAPP 2014 - International Conference on Computer Graphics Theory and Applications},
  publisher = {SCITEPRESS},
  year = {2014}
}

Sebastian Ochmann and Richard Vock and Raoul Wessel and Reinhard Klein, "Towards the Extraction of Hierarchical Building Descriptions from 3D Indoor Scans", In EUROGRAPHICS Workshop on 3D Object Retrieval (3DOR 2014)., April, 2014. 2014.

We present a new method for the hierarchical decomposition of 3D indoor scans and the subsequent generation of an according hierarchical graph-based building descriptor. The hierarchy consists of four basic levels with according entities, building - storey - room - object. All entities are represented as attributed nodes in a graph and are linked to the upper level entity they are located in. Additionally, nodes of the same level are linked depending on their spatial and topological relationship. The hierarchical description enables easy navigation in the formerly unstructured data, measurement takings, as well as carrying out retrieval tasks that incorporate geometric, topological, and also functional building properties describing e.g. the designated use of single rooms according to the objects it contains. In contrast to previous methods which either focus on the segmentation into rooms or on the recognition of indoor objects, our holistic approach incorporates a rather large spectrum of entities on different semantic levels that are inherent to 3D building representations. In our evaluation we show the feasibility of our method for extraction of hierarchical building descriptions for various tasks using real-world data.

@inproceedings{ochmann_2014_towards,
  author = {Ochmann, Sebastian and Vock, Richard and Wessel, Raoul and Klein, Reinhard},
  title = {Towards the Extraction of Hierarchical Building Descriptions from 3D Indoor Scans},
  booktitle = {EUROGRAPHICS Workshop on 3D Object Retrieval (3DOR 2014)},
  year = {2014}
}

F. Steinbruecker and J. Sturm and D. Cremers, "Volumetric 3D Mapping in Real-Time on a CPU", In Robotics and Automation (ICRA), IEEE Int.~Conf.~on. Hongkong, China 2014.

@inproceedings{Steinbruecker-etal-icra14,
  author = {F. Steinbruecker and J. Sturm and D. Cremers},
  title = {Volumetric 3D Mapping in Real-Time on a CPU},
  booktitle = {Robotics and Automation (ICRA), IEEE Int.~Conf.~on},
  year = {2014}
}

Christian Eling and Lasse Klingbeil and Markus Wieland and Heiner Kuhlmann, "A precise position and attitude determination system for leightweight unmanned aerial vehicles", ISPRS - International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences. Vol. XL-1/W2, pp. 113-118. 2013.

@article{eling*13:precise,
  author = {Eling, Christian and Klingbeil, Lasse and Wieland, Markus and Kuhlmann, Heiner},
  title = {A precise position and attitude determination system for leightweight unmanned aerial vehicles},
  journal = {ISPRS - International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences},
  year = {2013},
  volume = {XL-1/W2},
  pages = {113--118},
  doi = {10.5194/isprsarchives-XL-1-W2-113-2013}
}

André Henn and Gerhard Gröger and Viktor Stroh and Lutz Plümer, "Model driven reconstruction of roofs from sparse LIDAR point clouds", ISPRS Journal of Photogrammetry and Remote Sensing. Vol. 76(0), pp. 17-29. 2013.

@article{Henn201317,
  author = {Andr\'{e} Henn and Gerhard Gr\"oger and Viktor Stroh and Lutz Pl\"umer},
  title = {Model driven reconstruction of roofs from sparse {LIDAR} point clouds},
  journal = {{ISPRS} Journal of Photogrammetry and Remote Sensing},
  year = {2013},
  volume = {76},
  number = {0},
  pages = {17-29},
  doi = {10.1016/j.isprsjprs.2012.11.004}
}

J. Schneider and W. Förstner, "Bundle Adjustment and System Calibration with Points at Infinity for Omnidirectional Camera Systems", Z. f. Photogrammetrie, Fernerkundung und Geoinformation. Vol. 4, pp. 309-321. 2013.

@article{schneider*13:bundle,
  author = {Schneider, J. and F\"orstner, W.},
  title = {Bundle Adjustment and System Calibration with Points at Infinity for Omnidirectional Camera Systems},
  journal = {Z. f. Photogrammetrie, Fernerkundung und Geoinformation},
  year = {2013},
  volume = {4},
  pages = {309--321},
  doi = {10.1127/1432-8364/2013/0179}
}

Sandra Loch-Dehbi and Youness Dehbi and Lutz Plümer, "Stochastic reasoning for uav supported reconstruction of 3D building models", In International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences. Vol. XL-1/W2, pp. 257-261. 2013.

@conference{loch2013,
  author = {Sandra Loch-Dehbi and Youness Dehbi and Lutz Pl\"umer},
  title = {Stochastic reasoning for uav supported reconstruction of 3D building models},
  booktitle = {International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences},
  year = {2013},
  volume = {XL-1/W2},
  pages = {257-261}
}

E. Bylow and J. Sturm and C. Kerl and F. Kahl and D. Cremers, "Real-Time Camera Tracking and 3D Reconstruction Using Signed Distance Functions", In Robotics: Science and Systems Conference (RSS)., June, 2013. 2013.

@inproceedings{bylow_etal_rss2013,
  author = {E. Bylow and J. Sturm and C. Kerl and F. Kahl and D. Cremers},
  title = {Real-Time Camera Tracking and 3D Reconstruction Using Signed Distance Functions},
  booktitle = {Robotics: Science and Systems Conference (RSS)},
  year = {2013}
}

E. Bylow and J. Sturm and C. Kerl and F. Kahl and D. Cremers, "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)., June, 2013. 2013.

@inproceedings{bylow_etal_rss2013rgbd_workshop,
  author = {E. Bylow and J. Sturm and C. Kerl and F. Kahl and D. Cremers},
  title = {Direct Camera Pose Tracking and Mapping With Signed Distance Functions},
  booktitle = {Demo Track of the RGB-D Workshop on Advanced Reasoning with Depth Cameras at the Robotics: Science and Systems Conference (RSS)},
  year = {2013}
}

J. Engel and J. Sturm and D. Cremers, "Semi-Dense Visual Odometry for a Monocular Camera", In International Conference on Computer Vision. Sydney, Australia, December, 2013. 2013.

@inproceedings{engel2013iccv,
  author = {J. Engel and J. Sturm and D. Cremers},
  title = {Semi-Dense Visual Odometry for a Monocular Camera},
  booktitle = {International Conference on Computer Vision},
  year = {2013},
  url = {https://vision.in.tum.de/_media/spezial/bib/engel2013iccv.pdf}
}

Dirk Holz and Matthias Nieuwenhuisen and David Droeschel and Michael Schreiber and Sven Behnke, "Towards Multimodal Omnidirectional Obstacle Detection for Autonomous Unmanned Aerial Vehicles ", In International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences. UAV-g 2013, 4--6 September 2013, Rostock, Germany, pp. 201-206. 2013.

@inproceedings{Holz2013Towards,
  author = {Holz, Dirk and Nieuwenhuisen, Matthias and Droeschel, David and Schreiber, Michael and Behnke, Sven},
  title = {Towards Multimodal Omnidirectional Obstacle Detection for Autonomous Unmanned Aerial Vehicles },
  booktitle = {International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences},
  year = {2013},
  pages = {201--206}
}

C. Kerl and J. Sturm and D. Cremers, "Robust Odometry Estimation for RGB-D Cameras", In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA)., May, 2013. 2013.

@inproceedings{kerl13icra,
  author = {C. Kerl and J. Sturm and D. Cremers},
  title = {Robust Odometry Estimation for RGB-D Cameras},
  booktitle = {Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA)},
  year = {2013},
  url = {http://vision.in.tum.de/_media/spezial/bib/kerl13icra.pdf}
}

C. Kerl and J. Sturm and D. Cremers, "Dense Visual SLAM for RGB-D Cameras", In Proc. of the Int. Conf. on Intelligent Robot Systems (IROS). 2013.

@inproceedings{kerl13iros,
  author = {C. Kerl and J. Sturm and D. Cremers},
  title = {Dense Visual SLAM for RGB-D Cameras},
  booktitle = {Proc. of the Int. Conf. on Intelligent Robot Systems (IROS)},
  year = {2013}
}

Matthias Nieuwenhuisen and Mark Schadler and Sven Behnke, "Predictive Potential Field-based Collision Avoidance for Multicopters", In Proceedings of International Conference on Unmanned Aerial Vehicles in Geomatics (UAV-g). Rostock 2013.

@inproceedings{Nieuwenhuisen:UAV-g2013,
  author = {Matthias Nieuwenhuisen and Mark Schadler and Sven Behnke},
  title = {Predictive Potential Field-based Collision Avoidance for Multicopters},
  booktitle = {Proceedings of International Conference on Unmanned Aerial Vehicles in Geomatics (UAV-g)},
  year = {2013}
}

M. Nieuwenhuisen and D. Droeschel and J. Schneider and D. Holz and T. Läbe and S. Behnke, "Multimodal Obstacle Detection and Collision Avoidance for Micro Aerial Vehicles", In Proceedings of the 6th European Conference on Mobile Robots (ECMR). 2013.

@inproceedings{nieuwenhuisen*13:multimodal,
  author = {Nieuwenhuisen, M. and Droeschel, D. and Schneider, J. and Holz, D. and L\"abe, T. and Behnke, S.},
  title = {Multimodal Obstacle Detection and Collision Avoidance for Micro Aerial Vehicles},
  booktitle = {Proceedings of the 6th European Conference on Mobile Robots (ECMR)},
  year = {2013},
  url = {http://www.ais.uni-bonn.de/papers/ECMR_2013_Nieuwenhuisen_Multimodal_Obstacle_Avoidance.pdf}
}

J. Schneider and T. Läbe and W. Förstner, "Incremental Real-time Bundle Adjustment for Multi-camera Systems with Points at Infinity", In ISPRS Archives of Photogrammetry, Remote Sensing and Spatial Information Sciences. Vol. XL-1/W2, pp. 355-360. 2013.

@inproceedings{schneider*13:incremental,
  author = {Schneider, J. and L\"abe, T. and F\"orstner, W.},
  title = {Incremental Real-time Bundle Adjustment for Multi-camera Systems with Points at Infinity},
  booktitle = {ISPRS Archives of Photogrammetry, Remote Sensing and Spatial Information Sciences},
  year = {2013},
  volume = {XL-1/W2},
  pages = {355-360},
  url = {http://www.int-arch-photogramm-remote-sens-spatial-inf-sci.net/XL-1-W2/355/2013/isprsarchives-XL-1-W2-355-2013.pdf},
  doi = {10.5194/isprsarchives-XL-1-W2-355-2013}
}

Johannes Schneider and Falko Schindler and Thomas Läbe and Wolfgang Förstner, "Bundle Adjustment for Multi-camera Systems with Points at Infinity", In ISPRS Annals of Photogrammetry, Remote Sensing and Spatial Information Sciences. Vol. I-3, pp. 75-80. 2012.

@inproceedings{Schneider2012Bundle,
  author = {Schneider, Johannes and Schindler, Falko and L\"abe, Thomas and F\"orstner, Wolfgang},
  title = {Bundle Adjustment for Multi-camera Systems with Points at Infinity},
  booktitle = {ISPRS Annals of Photogrammetry, Remote Sensing and Spatial Information Sciences},
  year = {2012},
  volume = {I-3},
  pages = {75--80},
  url = {http://www.isprs-ann-photogramm-remote-sens-spatial-inf-sci.net/I-3/75/2012/isprsannals-I-3-75-2012.pdf},
  doi = {10.5194/isprsannals-I-3-75-2012}
}


Reviewed Publications without Project Acknowledgement

J. Engel and J. Sturm and D. Cremers, "Scale-Aware Navigation of a Low-Cost Quadrocopter with a Monocular Camera", Robotics and Autonomous Systems (RAS). 2014.

@article{engel14ras,
  author = {J. Engel and J. Sturm and D. Cremers},
  title = {Scale-Aware Navigation of a Low-Cost Quadrocopter with a Monocular Camera},
  journal = {Robotics and Autonomous Systems (RAS)},
  year = {2014},
  doi = {10.1016/j.robot.2014.03.012}
}

Mark Schadler and Jörg Stückler and Sven Behnke, "Rough Terrain 3D Mapping and Navigation Using a Continuously Rotating 2D Laser Scanner", German Journal on Artificial Intelligence (KI). Vol. 28(2), pp. 93-99. 2014.

@article{Schadler_KI2014,
  author = {Mark Schadler and J{\"o}rg St{\"u}ckler and Sven Behnke},
  title = {Rough Terrain {3D} Mapping and Navigation Using a Continuously Rotating {2D} Laser Scanner},
  journal = {German Journal on Artificial Intelligence (KI)},
  year = {2014},
  volume = {28},
  number = {2},
  pages = {93-99},
  doi = {10.1007/s13218-014-0301-8}
}

Jörg Stückler and Sven Behnke, "Multi-Resolution Surfel Maps for Efficient Dense 3D Modeling and Tracking", Journal of Visual Communication and Image Representation. Vol. 25(1), pp. 137-147. Springer. 2014.

@article{Stueckler_VCIR2014:MRSMaps,
  author = {J\"org St\"uckler and Sven Behnke},
  title = {Multi-Resolution Surfel Maps for Efficient Dense {3D} Modeling and Tracking},
  journal = {Journal of Visual Communication and Image Representation},
  publisher = {Springer},
  year = {2014},
  volume = {25},
  number = {1},
  pages = {137--147},
  doi = {10.1016/j.jvcir.2013.02.008}
}

M. Weinmann and J. Gall and R. Klein, "Material Classification based on Training Data Synthesized Using a BTF Database", Accepted for ECCV 2014. 2014.

@article{Weinmann2014,
  author = {M. Weinmann and J. Gall and R. Klein},
  title = {Material Classification based on Training Data Synthesized Using a BTF Database},
  journal = {Accepted for ECCV 2014},
  year = {2014}
}

Marko Ristin and Matthieu Guillaumin and Juergen Gall and Luc Van Gool, "Incremental Learning of NCM Forests for Large-Scale Image Classification", In IEEE Conference on Computer Vision and Pattern Recognition (CVPR). 2014.

@conference{conferencereference.2014-04-23.5377901415,
  author = {Ristin, Marko and Guillaumin, Matthieu and Gall, Juergen and Van Gool, Luc},
  title = {Incremental Learning of {NCM} Forests for Large-Scale Image Classification},
  booktitle = {IEEE Conference on Computer Vision and Pattern Recognition (CVPR)},
  year = {2014}
}

M. Mazuran and G.D. Tipaldi and L. Spinello and W. Burgard and C. Stachniss, "A Statistical Measure for Map Consistency in SLAM", In Robotics and Automation (ICRA), IEEE Int.~Conf.~on. Hong Kong, China 2014.

@inproceedings{mazuran14icra,
  author = {M. Mazuran and G.D. Tipaldi and L. Spinello and W. Burgard and C. Stachniss},
  title = {A Statistical Measure for Map Consistency in SLAM},
  booktitle = {Robotics and Automation (ICRA), IEEE Int.~Conf.~on},
  year = {2014}
}

Max Schwarz and Sven Behnke, "Local Navigation in Rough Terrain using Omnidirectional Height", In Proceedings of Joint 45th International Symposium on Robotics (ISR) and 8th German Conference on Robotics (ROBOTIK), München. 2014.

@inproceedings{Schwarz_Robotik2014:LocalNavigation,
  author = {Max Schwarz and Sven Behnke},
  title = {Local Navigation in Rough Terrain using Omnidirectional Height},
  booktitle = {Proceedings of Joint 45th International Symposium on Robotics (ISR) and 8th German Conference on Robotics (ROBOTIK), München},
  year = {2014}
}

Ricarda Steffens and Matthias Nieuwenhuisen and Sven Behnke, "Continuous Motion Planning for Service Robots with Multiresolution in Time", In Proceedings of 13th International Conference on Intelligent Autonomous Systems (IAS), Padova, Italy., July, 2014. 2014.

@inproceedings{Steffens_IAS2014:MultiresolutionInTime,
  author = {Ricarda Steffens and Matthias Nieuwenhuisen and Sven Behnke},
  title = {Continuous Motion Planning for Service Robots with Multiresolution in Time},
  booktitle = {Proceedings of 13th International Conference on Intelligent Autonomous Systems (IAS), Padova, Italy},
  year = {2014}
}

Christian Eling and Philipp Zeimetz and Heiner Kuhlmann, "Development of an instantaneous GNSS/MEMS attitude determination system", GPS Solutions. Vol. 17(1), pp. 129-138. Springer-Verlag. 2013.

@article{eling*13:attitude,
  author = {Eling, Christian and Zeimetz, Philipp and Kuhlmann, Heiner},
  title = {Development of an instantaneous {GNSS}/{MEMS} attitude determination system},
  journal = {GPS Solutions},
  publisher = {Springer-Verlag},
  year = {2013},
  volume = {17},
  number = {1},
  pages = {129-138},
  url = {http://dx.doi.org/10.1007/s10291-012-0266-8},
  doi = {10.1007/s10291-012-0266-8}
}

Jörg Stückler and Benedikt Waldvogel and Hannes Schulz and Sven Behnke, "Dense Real-Time Mapping of Object-Class Semantics from RGB-D Video", Journal of Real-Time Image Processing. Springer. 2013.

@article{Stueckler_RTIP2014:SemanticMapping,
  author = {J\"org St\"uckler and Benedikt Waldvogel and Hannes Schulz and Sven Behnke},
  title = {Dense Real-Time Mapping of Object-Class Semantics from {RGB-D} Video},
  journal = {Journal of Real-Time Image Processing},
  publisher = {Springer},
  year = {2013},
  note = {available online},
  doi = {10.1007/s11554-013-0379-5}
}

D. Bender and M. Schikora and J. Sturm and D. Cremers, "Graph-based bundle adjustment for INS-camera calibration", In Unmanned Aerial Vehicle in Geomatics (UAV-g). Rostock, Germany, September, 2013. 2013.

@inproceedings{bender_etal_2013uavg,
  author = {D. Bender and M. Schikora and J. Sturm and D. Cremers},
  title = {Graph-based bundle adjustment for INS-camera calibration},
  booktitle = {Unmanned Aerial Vehicle in Geomatics (UAV-g)},
  year = {2013}
}

T. Naseer and J. Sturm and D. Cremers, "FollowMe: Person Following and Gesture Recognition with a Quadrocopter", In Proc. of the Int. Conf. on Intelligent Robot Systems (IROS). 2013.

@inproceedings{naseer2013iros,
  author = {T. Naseer and J. Sturm and D. Cremers},
  title = {{FollowMe}: Person Following and Gesture Recognition with a Quadrocopter},
  booktitle = {Proc. of the Int. Conf. on Intelligent Robot Systems (IROS)},
  year = {2013}
}

M Ristin and J Gall and L van Gool, "Local Context Priors for Object Proposal Generation", In Asian Conference on Computer Vision (ACCV). Vol. 7724, pp. 57-70. Springer. 2013.

@inproceedings{RIGG12,
  author = {Ristin, M and Gall, J and van Gool, L},
  title = {Local Context Priors for Object Proposal Generation},
  booktitle = {Asian Conference on Computer Vision (ACCV)},
  publisher = {Springer},
  year = {2013},
  volume = {7724},
  pages = {57-70}
}

F. Steinbruecker and C. Kerl and J. Sturm and D. Cremers, "Large-Scale Multi-Resolution Surface Reconstruction from RGB-D Sequences", In International Conference on Computer Vision. Sydney, Australia 2013.

@inproceedings{Steinbruecker-etal-iccv13,
  author = {F. Steinbruecker and C. Kerl and J. Sturm and D. Cremers},
  title = {Large-Scale Multi-Resolution Surface Reconstruction from RGB-D Sequences},
  booktitle = {International Conference on Computer Vision},
  year = {2013}
}

Jörg Stückler and Sven Behnke, "Hierarchical Object Discovery and Dense Modelling From Motion Cues in RGB-D Video", In Proc. of the 23rd Int. Joint Conf. on Artificial Intelligence (IJCAI). 2013.

@inproceedings{Stueckler_IJCAI_2013:Motion,
  author = {J{\"o}rg St{\"u}ckler and Sven Behnke},
  title = {Hierarchical Object Discovery and Dense Modelling From Motion Cues in {RGB-D} Video},
  booktitle = {Proc.\ of the 23rd Int.\ Joint Conf.\ on Artificial Intelligence (IJCAI)},
  year = {2013}
}

Gerhard Gröger and Lutz Plümer, "Transaction rules for updating surfaces in 3D GIS", ISPRS Journal of Photogrammetry and Remote Sensing . Vol. 69(0), pp. 134 - 145. 2012.

@article{Groeger2012134,
  author = {Gr\"{o}ger, Gerhard and Pl\"{u}mer, Lutz},
  title = {Transaction rules for updating surfaces in 3D {GIS}},
  journal = {{ISPRS} Journal of Photogrammetry and Remote Sensing },
  year = {2012},
  volume = {69},
  number = {0},
  pages = {134 - 145},
  doi = {10.1016/j.isprsjprs.2012.03.004}
}

Gerhard Gröger and Lutz Plümer, "Provably Correct and Complete Transaction Rules for Updating 3D City Models", Geoinformatica. Vol. 16(1), pp. 131-164. 2012.

@article{Groger2012,
  author = {Gr\"{o}ger, Gerhard and Pl\"{u}mer, Lutz},
  title = {Provably Correct and Complete Transaction Rules for Updating 3D City Models},
  journal = {Geoinformatica},
  year = {2012},
  volume = {16},
  number = {1},
  pages = {131--164},
  doi = {10.1145/267825.267837}
}

André Henn and Christoph Römer and Gerhard Gröger and Lutz Plümer, "Automatic Classification of Building Types in 3D City Models", Geoinformatica. Vol. 16(2), pp. 281-306. 2012.

@article{Henn2012,
  author = {Henn, Andr{\'e} and R\"{o}mer, Christoph and Gr\"{o}ger, Gerhard and Pl\"{u}mer, Lutz},
  title = {Automatic Classification of Building Types in 3D City Models},
  journal = {Geoinformatica},
  year = {2012},
  volume = {16},
  number = {2},
  pages = {281--306},
  doi = {10.1007/s10707-011-0131-x}
}

C. Stachniss and W. Burgard, "Particle Filters for Robot Navigation", Foundations and Trends in Robotics. Vol. 3(4), pp. 211-282. 2012.

@article{stachniss12fnt,
  author = {C. Stachniss and W. Burgard},
  title = {Particle Filters for Robot Navigation},
  journal = {Foundations and Trends in Robotics},
  year = {2012},
  volume = {3},
  number = {4},
  pages = {211-282},
  note = {Published 2014},
  doi = {10.1561/2300000013}
}

Matthias Nieuwenhuisen and Joerg Stückler and Alexander Berner and Reinhard Klein and Sven Behnke, "Shape-Primitive Based Object Recognition and Grasping", In 7th German Conference on Robotics (ROBOTIK)., May, 2012. 2012.

Grasping objects from unstructured piles is an important, but difficult task. We present a new framework to grasp objects composed of shape primitives like cylinders and spheres. For object recognition, we employ efficient shape primitive detection methods in 3D point clouds. Object models composed of such primitives are then found in the detected shapes with a probabilistic graph-matching technique. We implement object grasping based on the shape primitives in an efficient multi-stage process that successively prunes infeasible grasps in tests of increasing complexity. The final step is to plan collision-free reaching motions to execute the grasps. With our approach, our service robot can grasp object compounds from piles of objects, e. g., in transport boxes.

@inproceedings{Berner2012b,
  author = {Nieuwenhuisen, Matthias and St{\"u}ckler, Joerg and Berner, Alexander and Klein, Reinhard and Behnke, Sven},
  title = {Shape-Primitive Based Object Recognition and Grasping},
  booktitle = {7th German Conference on Robotics (ROBOTIK)},
  year = {2012}
}

Christian Eling and Philipp Zeimetz and Heiner Kuhlmann, "Single-Epoch Ambiguity Resolution for Kinematic GNSS Positioning", In Proceedings of the 3rd International Conference on Machine Control & Guidance., pp. 35-46. 2012.

@inproceedings{eling*12:single,
  author = {Eling, Christian and Zeimetz, Philipp and Kuhlmann, Heiner},
  title = {Single-Epoch Ambiguity Resolution for Kinematic {GNSS} Positioning},
  booktitle = {Proceedings of the 3rd International Conference on Machine Control \& Guidance},
  year = {2012},
  pages = {35-46}
}

J. Sturm and N. Engelhard and F. Endres and W. Burgard and D. Cremers, "A Benchmark for the Evaluation of RGB-D SLAM Systems", In Proc. of the Int. Conf. on Intelligent Robot Systems (IROS)., Oct., 2012. 2012.

@inproceedings{sturm12iros,
  author = {J. Sturm and N. Engelhard and F. Endres and W. Burgard and D. Cremers},
  title = {{{A Benchmark for the Evaluation of RGB-D SLAM Systems}}},
  booktitle = {{Proc. of the Int.\ Conf.\ on Intelligent Robot Systems (IROS)}},
  year = {2012}
}

J. Sturm and W. Burgard and D. Cremers, "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)., Oct., 2012. 2012.

@inproceedings{sturm12iros_ws,
  author = {J. Sturm and W. Burgard and D. Cremers},
  title = {Evaluating Egomotion and Structure-from-Motion Approaches Using the {TUM RGB-D} Benchmark},
  booktitle = {Proc. of the Workshop on Color-Depth Camera Fusion in Robotics at the IEEE/RJS International Conference on Intelligent Robot Systems (IROS)},
  year = {2012}
}

A Yao and J Gall and C Leistner and L van Gool, "Interactive Object Detection", In IEEE Conference on Computer Vision and Pattern Recognition (CVPR)., pp. 3242-3249. 2012.

@inproceedings{YGLG12,
  author = {Yao, A and Gall, J and Leistner, C and van Gool, L},
  title = {Interactive Object Detection},
  booktitle = {IEEE Conference on Computer Vision and Pattern Recognition (CVPR)},
  year = {2012},
  pages = {3242-3249}
}

Juergen Gall and Angela Yao and Nima Razavi and Luc van Gool and Victor Lempitsky, "Hough Forests for Object Detection, Tracking, and Action Recognition", IEEE Transactions on Pattern Analysis and Machine Intelligence. Vol. 33(11), pp. 2188-2202. 2011.

@article{51191074,
  author = {Gall, Juergen and Yao, Angela and Razavi, Nima and van Gool, Luc and Lempitsky, Victor},
  title = {{H}ough Forests for Object Detection, Tracking, and Action Recognition},
  journal = {IEEE Transactions on Pattern Analysis and Machine Intelligence},
  year = {2011},
  volume = {33},
  number = {11},
  pages = {2188-2202}
}

Nima Razavi and Juergen Gall and Luc van Gool, "Scalable multi-class object detection", In IEEE Conference on Computer Vision and Pattern Recognition (CVPR)., pp. 1505-1512. 2011.

@inproceedings{51108052,
  author = {Razavi, Nima and Gall, Juergen and van Gool, Luc},
  title = {Scalable multi-class object detection},
  booktitle = {IEEE Conference on Computer Vision and Pattern Recognition (CVPR)},
  year = {2011},
  pages = {1505-1512}
}

G. Grisetti and R. Kümmerle and C. Stachniss and U. Frese and C. Hertzberg, "Hierarchical Optimization on Manifolds for Online 2D and 3D Mapping", In Robotics and Automation (ICRA), IEEE Int.~Conf.~on. Anchorage, Alaska 2010.

@inproceedings{grisetti10icra,
  author = {G. Grisetti and R. K{\"u}mmerle and C. Stachniss and U. Frese and C. Hertzberg},
  title = {Hierarchical Optimization on Manifolds for Online 2D and 3D Mapping},
  booktitle = {Robotics and Automation (ICRA), IEEE Int.~Conf.~on},
  year = {2010},
  url = {http://www.informatik.uni-freiburg.de/~stachnis/pdf/grisetti10icra.pdf}
}

R. Schnabel and S. Möser and R. Klein, "Fast Vector Quantization for Efficient Rendering of Compressed Point-Clouds", Computers and Graphics., April, 2008. Vol. 32(2), pp. 246-259. 2008.

@article{Schnabel2008,
  author = {Schnabel, R. and M\"oser, S. and Klein, R.},
  title = {Fast Vector Quantization for Efficient Rendering of Compressed Point-Clouds},
  journal = {Computers and Graphics},
  year = {2008},
  volume = {32},
  number = {2},
  pages = {246-259},
  doi = {10.1016/j.cag.2008.01.014}
}

B. Steder and G. Grisetti and C. Stachniss and W. Burgard, "Visual SLAM for Flying Vehicles", IEEE Transactions on Robotics. Vol. 24(8), pp. 1088-1093. 2008.

@article{steder08tro,
  author = {Steder, B. and Grisetti, G. and Stachniss, C. and Burgard, W.},
  title = {Visual {SLAM} for Flying Vehicles},
  journal = {IEEE Transactions on Robotics},
  year = {2008},
  volume = {24},
  number = {8},
  pages = {1088--1093},
  doi = {10.1109/TRO.2008.2004521}
}

Other Publications

Christian Eling and Erik Heinz and Lasse Klingbeil and Heiner Kuhlmann, "Cycle Slip Detection in the Context of RTK-GPS Positioning of Lightweight UAVs", In Proceedings of the 4th International Conference on Machine Control & Guidance. 2014.

@inproceedings{eling*14:cycleslip,
  author = {Eling, Christian and Heinz, Erik and Klingbeil, Lasse and Kuhlmann, Heiner},
  title = {Cycle Slip Detection in the Context of {RTK}-{GPS} Positioning of Lightweight {UAV}s},
  booktitle = {Proceedings of the 4th International Conference on Machine Control \& Guidance},
  year = {2014}
}

Christian Eling and Lasse Klingbeil and Heiner Kuhlmann, "A precise direct georeferencing system for UAVs", In Proceedings of the Workshop on UAV-basaed Remote Sensing Methods for Monitoring Vegetation. - Kölner Geographische Arbeiten. Vol. 94, pp. 33-41. 2014.

@inproceedings{eling*14:georef,
  author = {Eling, Christian and Klingbeil, Lasse and Kuhlmann, Heiner},
  title = {A precise direct georeferencing system for {UAV}s},
  booktitle = {Proceedings of the Workshop on UAV-basaed Remote Sensing Methods for Monitoring Vegetation. - Kölner Geographische Arbeiten},
  year = {2014},
  volume = {94},
  pages = {33-41},
  doi = {10.5880/TR32DB.KGA94.6}
}

Johannes Schneider and Thomas Läbe and Wolfgang Förstner, "Real-Time Bundle Adjustment with an Omnidirectional Multi-Camera System and GPS", In Proceedings of the 4th International Conference on Machine Control & Guidance., pp. 98-103. 2014.

@inproceedings{Schneider2014Realtime,
  author = {Schneider, Johannes and L\"abe, Thomas and F\"orstner, Wolfgang},
  title = {Real-Time Bundle Adjustment with an Omnidirectional Multi-Camera System and GPS},
  booktitle = {Proceedings of the 4th International Conference on Machine Control \& Guidance},
  year = {2014},
  pages = {98--103},
  url = {http://www.digibib.tu-bs.de/?docid=00056119}
}

Richard Vock, "Efficient and Robust Symmetry Detection in Architectural Scenes". Thesis at: Institut für Informatik II, Universität Bonn. 2014.

@mastersthesis{VockDiplomarbeit2014,
  author = {Richard Vock},
  title = {Efficient and Robust Symmetry Detection in Architectural Scenes},
  school = {{{Institut f\"ur Informatik II, Universit\"at Bonn}}},
  year = {2014}
}

Matthias Nieuwenhuisen and David Droeschel and Dirk Holz and Sven Behnke, "Omnidirectional Obstacle Perception and Collision Avoidance for Micro Aerial Vehicles ", In RSS 2013 Workshop on Resource-Efficient Integration of Perception, Control and Navigation for Micro Air Vehicles. 2013.

@inproceedings{Nieuwenhuisen2013Omnidirectional,
  author = { Nieuwenhuisen, Matthias and Droeschel, David and Holz, Dirk and Behnke, Sven},
  title = {Omnidirectional Obstacle Perception and Collision Avoidance for Micro Aerial Vehicles },
  booktitle = {RSS 2013 Workshop on Resource-Efficient Integration of Perception, Control and Navigation for Micro Air Vehicles},
  year = {2013},
  url = {http://www.ais.uni-bonn.de/papers/RSS_2013_MAV_WS_Nieuwenhuisen.pdf}
}