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Publications

Publication List

2023 | 2022 | 2021 | 2020 | 2019 | 2018 | 2017 | 2016 | 2015 | 2014 | 2013 | 2012 | 2011 | 2010 | 2009 | 2008 | 2007 | 2006

2023

Jan Achterhold, Philip Tobuschat, Hao Ma, Dieter B¨¹chler, Michael M¨¹hlebach and J?rg St¨¹ckler. 2023. Black-box vs. gray-box: a case study on learning table tennis ball trajectory prediction with spin and impacts.
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Suresh Guttikonda, Jan Achterhold, Haolong Li, Joschka Boedecker and J?rg St¨¹ckler. 2023. Context-conditional navigation with a learning-based terrain- and robot-aware dynamics model. DOI: 10.1109/ECMR59166.2023.10256414
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Jan Achterhold, Markus Krimmel and J?rg St¨¹ckler. 2023. Learning temporally extended skills in continuous domains as symbolic actions for planning.
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Cathrin Elich, Iro Armeni, Martin R. Oswald, Marc Pollefeys and J?rg St¨¹ckler. 2023. Learning-based relational object matching across views. DOI: 10.1109/icra48891.2023.10161393
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Haolong Li and J?rg St¨¹ckler. in press. Online calibration of a single-track ground vehicle dynamics model by tight fusion with visual-inertial odometry. DOI: 10.48550/arXiv.2309.11148
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Rama Krishna Kandukuri, Michael Strecke and J?rg St¨¹ckler. in press. Physics-based rigid body object tracking and friction filtering from RGB-D videos. DOI: 10.48550/arXiv.2309.15703
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Victor Dh¨¦din, Haolong Li, Shahram Khorshidi, Lukas Mack, Adithya Kumar Chinnakkonda Ravi, Avadesh ÍþÄá˹¶Ä²©ÓÎÏ·_ÍþÄá˹¶Ä²©app-¡¾¹ÙÍø¡¿uri, Paarth Shah, Felix Grimminger, Ludovic Righetti, Majid Khadiv and J?rg St¨¹ckler. in press. Visual-inertial and leg odometry fusion for dynamic locomotion.
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2022

Yuxuan Xue, Haolong Li, Stefan Leutenegger and J?rg St¨¹ckler. 2022. Event-based non-rigid reconstruction from contours.
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Haolong Li and J?rg St¨¹ckler. in press. Observability analysis of visual-inertial odometry with online calibration of velocity-control based kinematic motion models.
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Rama Krishna Kandukuri, Jan Achterhold, Michael Moeller and J?rg St¨¹ckler. 2022. Physical representation learning and parameter identification from video using differentiable physics. DOI: 10.1007/s11263-021-01493-5
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Cathrin Elich, Martin R. Oswald, Marc Pollefeys and J?rg St¨¹ckler. 2022. Weakly supervised learning of multi-object 3D scene decompositions using deep shape priors. DOI: 10.1016/j.cviu.2022.103440
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2021

Michael Strecke and J?rg St¨¹ckler. 2021. DiffSDFSim: differentiable rigid-body dynamics with implicit shapes. DOI: 10.1109/3dv53792.2021.00020
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Jan Achterhold and J?rg St¨¹ckler. 2021. Explore the context: optimal data collection for context-conditional dynamics models.
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Rama Kandukuri, Jan Achterhold, Michael Moeller and J?rg St¨¹ckler. 2021. Learning to identify physical parameters from video using differentiable physics. DOI: 10.1007/978-3-030-71278-5_4
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Haolong Li and J?rg St¨¹ckler. 2021. Tracking 6-DoF object motion from events and frames. DOI: 10.1109/icra48506.2021.9561760
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2020

2020. 25th International Symposium on Vision, Modeling and Visualization (VMV), September 28 - October 1, 2020, T¨¹bingen, Germany. DOI: 10.2312/vmv.20202018
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Rui Wang, Nan Yang, J?rg St¨¹ckler and Daniel Cremers. 2020. DirectShape: direct photometric alignment of shape priors for visual vehicle pose and shape estimation. DOI: 10.1109/ICRA40945.2020.9197095
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Arijit Mallick, J?rg St¨¹ckler and Hendrik Lensch. 2020. Learning to adapt multi-view stereo by self-supervision.
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Nathanael Bosch, Jan Achterhold, Laura Leal-Taix¨¦ and J?rg St¨¹ckler. 2020. Planning from images with deep latent Gaussian process dynamics.
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Cristina Pinneri, Shambhuraj Sawant, Sebastian Blaes, Jan Achterhold, J?rg St¨¹ckler, Michal Rolinek and Georg Martius. 2020. Sample-efficient cross-entropy method for real-time planning.
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Vladyslav Usenko, Lukas von Stumberg, J?rg St¨¹ckler and Daniel Cremers. 2020. TUM flyers: vision¡ªbased MAV navigation for systematic inspection of structures. DOI: 10.1007/978-3-030-34507-5_8
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Vladyslav Usenko, Nikolaus Demmel, David Schubert, J?rg St¨¹ckler and Daniel Cremers. 2020. Visual-inertial mapping with non-linear factor recovery. DOI: 10.1109/lra.2019.2961227
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2019

Michael Strecke and J?rg St¨¹ckler. 2019. EM-fusion: dynamic object-level SLAM with probabilistic data association. DOI: 10.1109/iccv.2019.00596
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2018

Lingni Ma, J?rg St¨¹ckler, Tao Wu and Daniel Cremers. 2018. Detailed dense inference with convolutional neural networks via discrete wavelet transform. DOI: 10.48550/arXiv.1808.01834
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David Schubert, Nikolaus Demmel, Vladyslav Usenko, J?rg St¨¹ckler and Daniel Cremers. 2018. Direct sparse odometry with rolling shutter. DOI: 10.1007/978-3-030-01237-3_42
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Hidenobu Matsuki, Lukas von Stumberg, Vladyslav Usenko, J?rg St¨¹ckler and Daniel Cremers. 2018. Omnidirectional DSO: direct sparse odometry with fisheye cameras. DOI: 10.1109/lra.2018.2855443
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David Schubert, Thore Goll, Nikolaus Demmel, Vladyslav Usenko, J?rg St¨¹ckler and Daniel Cremers. 2018. The TUM VI benchmark for evaluating visual-inertial odometry. DOI: 10.1109/iros.2018.8593419
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2017

Anton Kasyanov, Francis Engelmann, J?rg St¨¹ckler and Bastian Leibe. 2017. Keyframe-based visual-inertial online SLAM with relocalization. DOI: 10.1109/iros.2017.8206581
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Lingni Ma, J?rg St¨¹ckler, Christian Kerl and Daniel Cremers. 2017. Multi-view deep learning for consistent semantic mapping with RGB-D cameras. DOI: 10.1109/iros.2017.8202213
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Francis Engelmann, J?rg St¨¹ckler and Bastian Leibe. 2017. SAMP: shape and motion priors for 4D vehicle reconstruction. DOI: 10.1109/wacv.2017.51
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Yevhen Kuznietsov, J?rg St¨¹ckler and Bastian Leibe. 2017. Semi-supervised deep learning for monocular depth map prediction. DOI: 10.1109/cvpr.2017.238
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2016

Lingni Ma, Christian Kerl, J?rg St¨¹ckler and Daniel Cremers. 2016. CPA-SLAM: consistent plane-model alignment for direct RGB-D SLAM. DOI: 10.1109/icra.2016.7487260
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Vladyslav Usenko, Jakob Engel, J?rg St¨¹ckler and Daniel Cremers. 2016. Direct visual-inertial odometry with stereo cameras. DOI: 10.1109/icra.2016.7487335
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Francis Engelmann, J?rg St¨¹ckler and Bastian Leibe. 2016. Joint object pose estimation and shape reconstruction in urban street scenes using 3D shape priors. DOI: 10.1007/978-3-319-45886-1_18
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J?rg St¨¹ckler, Max Schwarz and Sven Behnke. 2016. Mobile manipulation, tool use, and intuitive interaction for cognitive service robot Cosero. DOI: 10.3389/frobt.2016.00058
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David Droeschel, Matthias Nieuwenhuisen, Marius Beul, Dirk Holz, J?rg St¨¹ckler and Sven Behnke. 2016. Multilayered mapping and navigation for autonomous micro aerial vehicles. DOI: 10.1002/rob.21603
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J?rg St¨¹ckler, Max Schwarz, Mark Schadler, Angeliki Topalidou©\Kyniazopoulou and Sven Behnke. 2016. NimbRo Explorer: semiautonomous exploration and mobile manipulation in rough terrain. DOI: 10.1002/rob.21592
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Deyvid Kochanov, Aljosa Osep, J?rg St¨¹ckler and Bastian Leibe. 2016. Scene flow propagation for semantic mapping and object discovery in dynamic street scenes. DOI: 10.1109/iros.2016.7759285
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Dirk Klostermann, Aljo?a O?ep, J?rg St¨¹ckler and Bastian Leibe. 2016. Unsupervised learning of shape-motion patterns for objects in urban street scenes [Abstract].
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2015

David Schwarz, Max Schwarz, J?rg St¨¹ckler and Sven Behnke. 2015. Cosero, find my keys! Object localization and retrieval using bluetooth low energy tags. DOI: 10.1007/978-3-319-18615-3_16
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Christian Kerl, J?rg St¨¹ckler and Daniel Cremers. 2015. Dense continuous-time tracking and mapping with rolling shutter RGB-D cameras. DOI: 10.1109/iccv.2015.261
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J?rg St¨¹ckler, Benedikt Waldvogel, Hannes Schulz and Sven Behnke. 2015. Dense real-time mapping of object-class semantics from RGB-D video. DOI: 10.1007/s11554-013-0379-5
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J?rg St¨¹ckler and Sven Behnke. 2015. Efficient dense rigid-body motion segmentation and estimation in RGB-D video. DOI: 10.1007/s11263-014-0796-3
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Jakob Engel, J?rg St¨¹ckler and Daniel Cremers. 2015. Large-scale direct SLAM with stereo cameras. DOI: 10.1109/iros.2015.7353631
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Mariano Jaimez, Mohamed Souiai, J?rg St¨¹ckler, Javier Gonzalez-Jimenez and Daniel Cremers. 2015. Motion cooperation: smooth piece-wise rigid scene flow from RGB-D images. DOI: 10.1109/3dv.2015.15
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Dirk Holz, Angeliki Topalidou-Kyniazopoulou, J?rg St¨¹ckler and Sven Behnke. 2015. Real-time object detection, localization and verification for fast robotic depalletizing. DOI: 10.1109/iros.2015.7353560
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Vladyslav Usenko, Jakob Engel, J?rg St¨¹ckler and Daniel Cremers. 2015. Reconstructing street-scenes in real-time from a driving car. DOI: 10.1109/3dv.2015.75
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Robert Maier, J?rg St¨¹ckler and Daniel Cremers. 2015. Super-resolution keyframe fusion for 3D modeling with high-quality textures. DOI: 10.1109/3dv.2015.66
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2014

Dirk Holz, Matthias Nieuwenhuisen, David Droeschel, J?rg St¨¹ckler, Alexander Berner, Jun Li, Reinhard Klein and Sven Behnke. 2014. Active recognition and manipulation for mobile robot bin picking. DOI: 10.1007/978-3-319-03838-4_7
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J?rg St¨¹ckler and Sven Behnke. 2014. Adaptive tool-use strategies for anthropomorphic service robots. DOI: 10.1109/humanoids.2014.7041448
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J?rg St¨¹ckler and Sven Behnke. 2014. Efficient deformable registration of multi-resolution surfel maps for object manipulation skill transfer. DOI: 10.1109/icra.2014.6906975
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J?rg-Dieter St¨¹ckler. 2014. Efficient dense registration, segmentation, and modeling methods for RGB-D environment perception.
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J?rg St¨¹ckler, David Droeschel, Kathrin Gr?ve, Dirk Holz, Michael Schreiber, Angeliki Topalidou-Kyniazopoulou, Max Schwarz and Sven Behnke. 2014. Increasing flexibility of mobile manipulation and intuitive human-robot interaction in RoboCup@Home. DOI: 10.1007/978-3-662-44468-9_13
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David Droeschel, J?rg St¨¹ckler and Sven Behnke. 2014. Local multi-resolution representation for 6D motion estimation and mapping with a continuously rotating 3D laser scanner. DOI: 10.1109/icra.2014.6907626
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Max Schwarz, J?rg St¨¹ckler and Sven Behnke. 2014. Mobile teleoperation interfaces with adjustable autonomy for personal service robots. DOI: 10.1145/2559636.2563716
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J?rg St¨¹ckler and Sven Behnke. 2014. Multi-resolution surfel maps for efficient dense 3D modeling and tracking. DOI: 10.1016/j.jvcir.2013.02.008
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Mark Schadler, J?rg St¨¹ckler and Sven Behnke. 2014. Rough terrain 3D mapping and navigation using a continuously rotating 2D laser scanner. DOI: 10.1007/s13218-014-0301-8
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2013

Alexander Berner, Jun Li, Dirk Holz, J?rg St¨¹ckler, Sven Behnke and Reinhard Klein. 2013. Combining contour and shape primitives for object detection and pose estimation of prefabricated parts. DOI: 10.1109/icip.2013.6738685
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Torsten Fiolka, J?rg St¨¹ckler, Dominik A. Klein, Dirk Schulz and Sven Behnke. 2013. Distinctive 3D surface entropy features for place recognition. DOI: 10.1109/ecmr.2013.6698843
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J?rg St¨¹ckler, Ricarda Steffens, Dirk Holz and Sven Behnke. 2013. Efficient 3D object perception and grasp planning for mobile manipulation in domestic environments. DOI: 10.1016/j.robot.2012.08.003
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J?rg St¨¹ckler and Sven Behnke. 2013. Efficient dense 3D rigid-body motion segmentation in RGB-D video. DOI: 10.5244/c.27.51
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J?rg St¨¹ckler and Sven Behnke. 2013. Hierarchical object discovery and dense modelling from motion cues in RGB-D video.
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Manus McElhone, J?rg St¨¹ckler and Sven Behnke. 2013. Joint detection and pose tracking of multi-resolution surfel models in RGB-D. DOI: 10.1109/ecmr.2013.6698832
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Matthias Nieuwenhuisen, David Droeschel, Dirk Holz, J?rg St¨¹ckler, Alexander Berner, Jun Li, Reinhard Klein and Sven Behnke. 2013. Mobile bin picking with an anthropomorphic service robot. DOI: 10.1109/icra.2013.6630892
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Mark Schadler, J?rg St¨¹ckler and Sven Behnke. 2013. Multi-resolution surfel mapping and real-time pose tracking using a continuously rotating 2D laser scanner. DOI: 10.1109/ssrr.2013.6719373
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J?rg St¨¹ckler, Ishrat Badami, David Droeschel, Kathrin Gr?ve, Dirk Holz, Manus McElhone, Matthias Nieuwenhuisen, Michael Schreiber, Max Schwarz and Sven Behnke. 2013. NimbRo@Home: winning team of the RoboCup@Home Competition 2012. DOI: 10.1007/978-3-642-39250-4_10
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2012

Germ¨¢n Mart¨ªn Garc¨ªa, Dominik Alexander Klein, J?rg St¨¹ckler, Simone Frintrop and Armin B. Cremers. 2012. Adaptive multi-cue 3D tracking of arbitrary objects. DOI: 10.1007/978-3-642-32717-9_36
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Sebastian Muszynski, J?rg St¨¹ckler and Sven Behnke. 2012. Adjustable autonomy for mobile teleoperation of personal service robots. DOI: 10.1109/roman.2012.6343870
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Uwe Hubert, J?rg St¨¹ckler and Sven Behnke. 2012. Bayesian calibration of the hand-eye kinematics of an anthropomorphic robot. DOI: 10.1109/humanoids.2012.6651584
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J?rg St¨¹ckler and Sven Behnke. 2012. Benchmarking mobile manipulation in everyday environments. DOI: 10.1109/arso.2012.6213389
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J?rg St¨¹ckler and Sven Behnke. 2012. Compliant task-space control with back-drivable servo actuators. DOI: 10.1007/978-3-642-32060-6_7
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Jochen Kl??, J?rg St¨¹ckler and Sven Behnke. 2012. Efficient mobile robot navigation using 3D surfel grid maps.
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J?rg St¨¹ckler and Sven Behnke. 2012. Integrating depth and color cues for dense multi-resolution scene mapping using RGB-D cameras. DOI: 10.1109/mfi.2012.6343050
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J?rg St¨¹ckler and Sven Behnke. 2012. Model learning and real-time tracking using multi-resolution surfel maps. DOI: 10.1609/aaai.v26i1.8388
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J?rg St¨¹ckler and Sven Behnke. 2012. Robust real-time registration of RGB-D images using multi-resolution surfel representations.
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Torsten Fiolka, J?rg St¨¹ckler, Dominik A. Klein, Dirk Schulz and Sven Behnke. 2012. SURE: surface entropy for distinctive 3D features. DOI: 10.1007/978-3-642-32732-2_5
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J?rg St¨¹ckler, Nenad Biresev and Sven Behnke. 2012. Semantic mapping using object-class segmentation of RGB-D images. DOI: 10.1109/iros.2012.6385983
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Matthias Nieuwenhuisen, J?rg St¨¹ckler, Berner Alexander, Reinhard Klein and Sven Behnke. 2012. Shape-primitive based object recognition and grasping.
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J?rg St¨¹ckler, David Droeschel, Kathrin Gr?ve, Dirk Holz, Jochen Kl??, Michael Schreiber, Ricarda Steffens and Sven Behnke. 2012. Towards robust mobility, flexible object manipulation, and intuitive multimodal interaction for domestic service robots. DOI: 10.1007/978-3-642-32060-6_5
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2011

Bastian Oehler, J?rg St¨¹ckler, Jochen Welle, Dirk Schulz and Sven Behnke. 2011. Efficient multi-resolution plane segmentation of 3D point clouds. DOI: 10.1007/978-3-642-25489-5_15
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J?rg St¨¹ckler and Sven Behnke. 2011. Following human guidance to cooperatively carry a large object. DOI: 10.1109/humanoids.2011.6100917
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J?rg St¨¹ckler and Sven Behnke. 2011. Interest point detection in depth images through scale-space surface analysis. DOI: 10.1109/icra.2011.5980474
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David Droeschel, J?rg St¨¹ckler and Sven Behnke. 2011. Learning to interpret pointing gestures with a time-of-flight camera. DOI: 10.1145/1957656.1957822
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J?rg St¨¹ckler, Ricarda Steffens, Dirk Holz and Sven Behnke. 2011. Real-time 3D perception and efficient grasp planning for everyday manipulation tasks.
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David Droeschel, J?rg St¨¹ckler, Dirk Holz and Sven Behnke. 2011. Towards joint attention for a domestic service robot - person awareness and gesture recognition using time-of-flight cameras. DOI: 10.1109/icra.2011.5980067
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Dirk Holz, Ruwen Schnabel, David Droeschel, J?rg St¨¹ckler and Sven Behnke. 2011. Towards semantic scene analysis with time-of-flight cameras. DOI: 10.1007/978-3-642-20217-9_11
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Hannes Schulz, Weichao Liu, J?rg St¨¹ckler and Sven Behnke. 2011. Utilizing the structure of field lines for efficient soccer robot localization. DOI: 10.1007/978-3-642-20217-9_34
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2010

J?rg St¨¹ckler and Sven Behnke. 2010. Combining depth and color cues for scale- and viewpoint-invariant object segmentation and recognition using Random Forests. DOI: 10.1109/iros.2010.5654338
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Kathrin Grave, J?rg St¨¹ckler and Sven Behnke. 2010. Improving imitated grasping motions through interactive expected deviation learning. DOI: 10.1109/ichr.2010.5686846
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Matthias Nieuwenhuisen, J?rg St¨¹ckler and Sven Behnke. 2010. Improving indoor navigation of autonomous robots by an explicit representation of doors. DOI: 10.1109/robot.2010.5509689
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Matthias Nieuwenhuisen, J?rg St¨¹ckler and Sven Behnke. 2010. Intuitive multimodal interaction for domestic service robots.
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Matthias Nieuwenhuisen, J?rg St¨¹ckler and Sven Behnke. 2010. Intuitive multimodal interaction for service robots.
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Kathrin Graeve, J?rg St¨¹ckler and Sven Behnke. 2010. Learning motion skills from expert demonstrations and own experience using Gaussian Process regression.
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David Droeschel, Dirk Holz, J?rg St¨¹ckler and Sven Behnke. 2010. Using time-of-flight cameras with active gaze control for 3D collision avoidance. DOI: 10.1109/robot.2010.5509571
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2009

J?rg St¨¹ckler, Michael Schreiber and Sven Behnke. 2009. Dynamaid, an anthropomorphic robot for research on domestic service applications.
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J?rg St¨¹ckler and Sven Behnke. 2009. Integrating indoor mobility, object manipulation, and intuitive interaction for domestic service tasks. DOI: 10.1109/ichr.2009.5379529
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2008

Sven Behnke and J?rg St¨¹ckler. 2008. Hierarchical reactive control for humanoid soccer robots. DOI: 10.1142/s0219843608001510
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J?rg St¨¹ckler and Sven Behnke. 2008. Orthogonal wall correction for visual motion estimation. DOI: 10.1109/robot.2008.4543178
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2007

Sven Behnke, J?rg St¨¹ckler, Michael Schreiber, Hannes Schulz, Martin Bohnert and Konrad Meier. 2007. Hierarchical reactive control for a team of humanoid soccer robots. DOI: 10.1109/ichr.2007.4813936
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2006

J?rg St¨¹ckler, Johannes Schwenk and Sven Behnke. 2006. Getting back on two feet: reliable standing-up routines for a humanoid robot.
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Sven Behnke, Michael Schreiber, J?rg St¨¹ckler, Reimund Renner and Hauke Strasdat. 2006. See, walk, and kick: humanoid robots start to play soccer. DOI: 10.1109/ichr.2006.321319
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Alexander Kleiner, Michael Brenner, Tobias Br?uer, Christian Dornhege, Moritz G?belbecker, Mathias Luber, Johann Prediger, J?rg St¨¹ckler and Bernhard Nebel. 2006. Successful search and rescue in simulated disaster areas. DOI: 10.1007/11780519_29
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