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Dr. Jörg Stückler

Dr. Jörg Stückler

Scientific Employee

Technische Universität München

Department of Computer Science
Informatik 9
Boltzmannstrasse 3
85748 Garching
Germany

Tel: +49-(0)89-289-17781
Fax: +49-89-289-17757
Office: 
Mail: joerg.stueckler@in.tum.de

I have joined the Computer Vision group at RWTH Aachen University. My new profile can be found here.

Until September 2015, I have been post-doctoral researcher in the Computer Vision Group headed by Prof. Daniel Cremers. My main research interests currently are in SLAM and scene understanding using mono/stereo/RGB-D cameras, and vision-based navigation for micro aerial vehicles (MAVs) and mobile robots.

Before joining the TUM Computer Vision Group, I have been working on RGB-D environment perception and mobile manipulation robots at the Autonomous Intelligent Systems Group, University of Bonn. See my former profile here on my previous projects and RoboCup awards. I have graduated with a Dr. rer. nat. from University of Bonn in 2014 for which I have received the Georges Giralt PhD Award in 2015.

News

  • 2015-09-30: I've left the TUM Computer Vision Group. My new profile at RWTH Aachen University can be found here
  • 2015-08-29: I've got a paper accepted for ICCV
  • 2015-08-12: We've got 3 papers accepted for 3DV
  • 2015-06-30: I've got 2 IROS papers accepted
  • 2015-05-13: Our team TUM Flyers has been admitted to Stage 2 of the EuRoC Challenge 3 with the top scoring proposal! See this link for details.
  • 2015-03-13: I have received the 2015 Georges Giralt Award by euRobotics aisbl for my PhD thesis.
  • 2014-12-01: Our team TUM Flyers has won Stage 1 of the EuRoC Challenge 3 on Servicing and Inspection with MAVs in Industrial Use-Cases. See this link for details.

Publications

Sort Order:  by type by year
Journal Articles Conference and Workshop Papers PhD Thesis Other Publications 
Journal Articles
2015
Multi-Layered Mapping and Navigation for Autonomous Micro Aerial Vehicles (D. Droeschel, M. Nieuwenhuisen, M. Beul, J. Stueckler, D. Holz, S. Behnke), In Journal of Field Robotics, 2015. (to appear) [bib]
NimbRo Explorer: Semi-Autonomous Exploration and Mobile Manipulation in Rough Terrain (J. Stueckler, M. Schwarz, M. Schadler, A. Topalidou-Kyniazopoulou, S. Behnke), In Journal of Field Robotics, 2015. (to appear) [bib]
Efficient Dense Rigid-Body Motion Segmentation and Estimation in RGB-D Video (J. Stueckler, S. Behnke), In International Journal of Computer Vision, Springer US, 2015. [bib] [doi]
2014
Multi-Resolution Surfel Maps for Efficient Dense 3D Modeling and Tracking (J. Stueckler, S. Behnke), In Journal of Visual Communication and Image Representation, volume 25, 2014. [bib] [doi]
Dense Real-Time Mapping of Object-Class Semantics from RGB-D Video (J. Stueckler, B. Waldvogel, H. Schulz, S. Behnke), In Journal of Real-Time Image Processing, Springer, 2014. [bib] [doi]
Rough Terrain Mapping and Navigation using a Continuously Rotating 2D Laser Scanner (M. Schadler, J. Stueckler, S. Behnke), In Künstliche Intelligenz, Springer, volume 28, 2014. [bib] [doi]
2012
RoboCup@Home: Demonstrating Everyday Manipulation Skills in RoboCup@Home (J. Stueckler, R. Steffens, D. Holz, S. Behnke), In IEEE Robotics and Automation Magazine, volume 19, 2012. [bib] [doi]
Efficient 3D Object Perception and Grasp Planning for Mobile Manipulation in Domestic Environments (J. Stueckler, R. Steffens, D. Holz, S. Behnke), In Robotics and Autonomous Systems, volume 61, 2012. [bib] [doi]
2008
Hierarchical Reactive Control for Humanoid Soccer Robots (S. Behnke, J. Stueckler), In International Journal of Humanoid Robots, volume 5, 2008. [bib]
Journal Articles Conference and Workshop Papers PhD Thesis Other Publications 
Conference and Workshop Papers
2017
From Monocular SLAM to Autonomous Drone Exploration (L. von Stumberg, V. Usenko, J. Engel, J. Stueckler, D. Cremers), In European Conference on Mobile Robots (ECMR), 2017. [bib] [pdf]
Multi-View Deep Learning for Consistent Semantic Mapping with RGB-D Cameras (L. Ma, J. Stueckler, C. Kerl, D. Cremers), In International Conference on Intelligent Robots and Systems (IROS), 2017. [bib] [pdf]
2016
CPA-SLAM: Consistent Plane-Model Alignment for Direct RGB-D SLAM (L. Ma, C. Kerl, J. Stueckler, D. Cremers), In International Conference on Robotics and Automation (ICRA), 2016. [bib] [pdf]
Direct Visual-Inertial Odometry with Stereo Cameras (V. Usenko, J. Engel, J. Stueckler, D. Cremers), In International Conference on Robotics and Automation (ICRA), 2016. [bib] [pdf] [video]
2015
Dense Continuous-Time Tracking and Mapping with Rolling Shutter RGB-D Cameras (C. Kerl, J. Stueckler, D. Cremers), In IEEE International Conference on Computer Vision (ICCV), 2015. ([video][supplementary][datasets]) [bib] [pdf]
Motion Cooperation: Smooth Piece-Wise Rigid Scene Flow from RGB-D Images (M. Jaimez, M. Souiai, J. Stueckler, J. Gonzalez-Jimenez, D. Cremers), In Proc. of the Int. Conference on 3D Vision (3DV), 2015. ([video]) [bib] [pdf]
Reconstructing Street-Scenes in Real-Time From a Driving Car (V. Usenko, J. Engel, J. Stueckler, D. Cremers), In Proc. of the Int. Conference on 3D Vision (3DV), 2015. [bib] [pdf]
Super-Resolution Keyframe Fusion for 3D Modeling with High-Quality Textures (R. Maier, J. Stueckler, D. Cremers), In International Conference on 3D Vision (3DV), 2015. [bib] [pdf]
Large-Scale Direct SLAM with Stereo Cameras (J. Engel, J. Stueckler, D. Cremers), In International Conference on Intelligent Robots and Systems (IROS), 2015. [bib] [pdf] [video]
Real-Time Object Detection, Localization and Verification for Fast Robotic Depalletizing (D. Holz, A. Topalidou-Kyniazopoulou, J. Stueckler, S. Behnke), In International Conference on Intelligent Robots and Systems (IROS), 2015. [bib]
2014
Mobile Teleoperation Interfaces with Adjustable Autonomy for Personal Service Robots (M. Schwarz, J. Stueckler, S. Behnke), In Proceedings of the 2014 ACM/IEEE International Conference on Human-robot Interaction, Advances in Computational Mathematics, 2014. [bib] [doi]
Local multi-resolution representation for 6D motion estimation and mapping with a continuously rotating 3D laser scanner (D. Droeschel, J. Stueckler, S. Behnke), In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), 2014. [bib] [doi]
Efficient deformable registration of multi-resolution surfel maps for object manipulation skill transfer (J. Stueckler, S. Behnke), In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), 2014. [bib] [doi]
Combining the Strengths of Sparse Interest Point and Dense Image Registration for RGB-D Odometry (J. Stueckler, A. Gutt, S. Behnke), In Proc. of the Joint 45th International Symposium on Robotics (ISR) and 8th German Conference on Robotics (ROBOTIK), 2014. [bib]
Local Multi-Resolution Surfel Grids for MAV Motion Estimation and 3D Mapping (D. Droeschel, J. Stueckler, S. Behnke), In Proc. of the 13th International Conference on Intelligent Autonomous Systems (IAS), 2014. [bib]
Adaptive Tool-Use Strategies for Anthropomorphic Service Robots (J. Stueckler, S. Behnke), In Proc. of the 14th IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2014. [bib]
2013
Mobile bin picking with an anthropomorphic service robot (M. Nieuwenhuisen, D. Droeschel, D. Holz, J. Stueckler, A. Berner, Jun Li, R. Klein, S. Behnke), In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), 2013. [bib] [doi]
Hierarchical Object Discovery and Dense Modelling From Motion Cues in RGB-D Video (J. Stueckler, S. Behnke), In Proc. of the 23rd International Joint Conference on Artificial Intelligence (IJCAI), IJCAI/AAAI, 2013. [bib]
Combining contour and shape primitives for object detection and pose estimation of prefabricated parts (A. Berner, Jun Li, D. Holz, J. Stueckler, S. Behnke, R. Klein), In Proc. of the 20th IEEE International Conference on Image Processing (ICIP), 2013. [bib] [doi]
Distinctive 3D surface entropy features for place recognition. (T. Fiolka, J. Stueckler, D. A. Klein, D. Schulz, S. Behnke), In Proc. of the European Conference on Mobile Robots (ECMR), IEEE, 2013. [bib]
Joint detection and pose tracking of multi-resolution surfel models in RGB-D (M. McElhone, J. Stueckler, S. Behnke), In Proc. of the European Conference on Mobile Robots (ECMR), IEEE, 2013. [bib]
Efficient Dense 3D Rigid-Body Motion Segmentation in RGB-D Video (J. Stueckler, S. Behnke), In Proc. of the British Machine Vision Conference (BMVC), 2013. [bib]
Multi-resolution surfel mapping and real-time pose tracking using a continuously rotating 2D laser scanner (M. Schadler, J. Stueckler, S. Behnke), In Proc. of the IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), 2013. [bib] [doi]
2012
Robust Real-Time Registration of RGB-D Images using Multi-Resolution Surfel Representations (J. Stueckler, S. Behnke), In Proc. of ROBOTIK, VDE-Verlag, 2012. [bib]
Efficient Mobile Robot Navigation using 3D Surfel Grid Maps (J. Kläß, J. Stueckler, S. Behnke), In Proc. of ROBOTIK, VDE-Verlag, 2012. [bib]
Shape-Primitive Based Object Recognition and Grasping (M. Nieuwenhuisen, J. Stueckler, A. Berner, R. Klein, S. Behnke), In Proc. of ROBOTIK, VDE-Verlag, 2012. [bib]
Model Learning and Real-Time Tracking Using Multi-Resolution Surfel Maps (J. Stueckler, S. Behnke), In , 2012. [bib]
Adaptive Multi-cue 3D Tracking of Arbitrary Objects (G. M. García, D. A. Klein, J. Stueckler, S. Frintrop, A. B. Cremers), In DAGM/OAGM Symposium (Axel Pinz, Thomas Pock, Horst Bischof, Franz Leberl, eds.), Springer, volume 7476, 2012. [bib]
SURE: Surface Entropy for Distinctive 3D Features (T. Fiolka, J. Stueckler, D. A. Klein, D. Schulz, S. Behnke), In Proc. of Spatial Cognition, 2012. [bib]
Adjustable autonomy for mobile teleoperation of personal service robots (S. Muszynski, J. Stueckler, S. Behnke), In Proc. of the IEEE Int. Symp. on Robot and Human Interactive Communication, 2012. [bib] [doi]
Integrating depth and color cues for dense multi-resolution scene mapping using RGB-D cameras (J. Stueckler, S. Behnke), In Proc. of the IEEE Int. Conf. on Multisensor Fusion and Integration for Intelligent Systems (MFI), 2012. [bib] [doi]
Semantic mapping using object-class segmentation of RGB-D images (J. Stueckler, N. Biresev, S. Behnke), In Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2012. [bib] [doi]
Bayesian calibration of the hand-eye kinematics of an anthropomorphic robot (U. Hubert, J. Stueckler, S. Behnke), In Proc. of the 12th IEEE-RAS Int. Conf. on Humanoid Robots (Humanoids), 2012. [bib] [doi]
2011
Learning to Interpret Pointing Gestures with a Time-of-flight Camera (D. Droeschel, J. Stueckler, S. Behnke), In Proceedings of the 6th International Conference on Human-robot Interaction, Advances in Computational Mathematics, 2011. [bib] [doi]
Interest point detection in depth images through scale-space surface analysis (J. Stueckler, S. Behnke), In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), 2011. [bib] [doi]
Towards joint attention for a domestic service robot - person awareness and gesture recognition using Time-of-Flight cameras (D. Droeschel, J. Stueckler, D. Holz, S. Behnke), In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), 2011. [bib] [doi]
Compliant Task-Space Control with Back-Drivable Servo Actuators (J. Stueckler, S. Behnke), In RoboCup (Thomas Röfer, Norbert Michael Mayer, Jesus Savage, Uluc Saranli, eds.), Springer, volume 7416, 2011. [bib]
Real-Time 3D Perception and Efficient Grasp Planning for Everyday Manipulation Tasks. (J. Stueckler, R. Steffens, D. Holz, S. Behnke), In Proc. of the European Conf. on Mobile Robots (ECMR), 2011. [bib]
Following human guidance to cooperatively carry a large object (J. Stueckler, S. Behnke), In Proc. of the 11th IEEE-RAS Int. Conf. on Humanoid Robots (Humanoids), 2011. [bib] [doi]
Efficient Multi-resolution Plane Segmentation of 3D Point Clouds (B. Oehler, J. Stueckler, J. Welle, D. Schulz, S. Behnke), In Proc. of the Int. Conf. on Intelligent Robotics and Applications (ICIRA) (Sabina Jeschke, Honghai Liu, Daniel Schilberg, eds.), Springer Berlin Heidelberg, volume 7102, 2011. [bib] [doi]
2010
Using Time-of-Flight cameras with active gaze control for 3D collision avoidance (D. Droeschel, D. Holz, J. Stueckler, S. Behnke), In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), 2010. [bib]
Improving indoor navigation of autonomous robots by an explicit representation of doors (M. Nieuwenhuisen, J. Stueckler, S. Behnke), In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), 2010. [bib] [doi]
Intuitive Multimodal Interaction for Domestic Service Robots (M. Nieuwenhuisen, J. Stueckler, S. Behnke), In Proc. of the ISR/ROBOTIK, VDE Verlag, 2010. [bib]
Learning Motion Skills from Expert Demonstrations and Own Experience using Gaussian Process Regression (K. Gräve, J. Stueckler, S. Behnke), In Proc. of the ISR/ROBOTIK, VDE Verlag, 2010. [bib]
Utilizing the Structure of Field Lines for Efficient Soccer Robot Localization (H. Schulz, W. Liu, J. Stueckler, S. Behnke), In RobuCup (Javier Ruiz del Solar, Eric Chown, Paul-Gerhard Plöger, eds.), Springer, volume 6556, 2010. [bib]
Towards Semantic Scene Analysis with Time-of-flight Cameras (D. Holz, R. Schnabel, D. Droeschel, J. Stueckler, S. Behnke), In RobuCup (Javier Ruiz del Solar, Eric Chown, Paul-Gerhard Plöger, eds.), Springer, volume 6556, 2010. [bib]
Improving People Awareness of Service Robots by Semantic Scene Knowledge (J. Stueckler, S. Behnke), In RobuCup (Javier Ruiz del Solar, Eric Chown, Paul-Gerhard Plöger, eds.), Springer, volume 6556, 2010. [bib]
Combining depth and color cues for scale- and viewpoint-invariant object segmentation and recognition using Random Forests (J. Stueckler, S. Behnke), In Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2010. [bib] [doi]
Improving imitated grasping motions through interactive expected deviation learning (K. Gräve, J. Stueckler, S. Behnke), In Proc. of the 10th IEEE-RAS Int. Conf. on Humanoid Robots (Humanoids), 2010. [bib] [doi]
2009
Dynamaid, an Anthropomorphic Robot for Research on Domestic Service Applications (J. Stueckler, M. Schreiber, S. Behnke), In Proc. of the European Conference on Mobile Robots (ECMR), 2009. [bib]
Integrating indoor mobility, object manipulation, and intuitive interaction for domestic service tasks (J. Stueckler, S. Behnke), In Proc. of the IEEE-RAS Int. Conf. on Humanoid Robots (Humanoids), 2009. [bib] [doi]
2008
Orthogonal wall correction for visual motion estimation (J. Stueckler, S. Behnke), In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), 2008. [bib] [doi]
In-lane Localization in Road Networks using Curbs Detected in Omnidirectional Height Images (J. Stueckler, H. Schulz, S. Behnke), In Proceedings of Robotik 2008, 2008. [bib]
2007
Hierarchical reactive control for a team of humanoid soccer robots (S. Behnke, J. Stueckler, M. Schreiber, H. Schulz, M. Böhnert, K. Meier), In Proc. of the IEEE-RAS Int. Conf. on Humanoid Robots (Humanoids), 2007. [bib] [doi]
2006
See, walk, and kick: Humanoid robots start to play soccer (S. Behnke, M. Schreiber, J. Stueckler, R. Renner, H. Strasdat), In Proc. of the IEEE-RAS Int. Conf. on Humanoid Robots (Humanoids), 2006. [bib] [doi]
Journal Articles Conference and Workshop Papers PhD Thesis Other Publications 
PhD Thesis
2014
Efficient Dense Registration, Segmentation, and Modeling Methods for RGB-D Environment Perception (J. Stueckler), PhD thesis, Faculty of Mathematics and Natural Sciences, University of Bonn, Germany, 2014. [bib]
Journal Articles Conference and Workshop Papers PhD Thesis Other Publications 
Other Publications
2015
Perception of Deformable Objects and Compliant Manipulation for Service Robots (J. Stueckler, S. Behnke), Chapter in Soft Robotics: From Theory to Applications (A. Albu-Schäffer O. Brock A. Raatz A. Verl, ed.), Springer, 2015. (to appear) [bib]
2014
Active Recognition and Manipulation for Mobile Robot Bin Picking (D. Holz, M. Nieuwenhuisen, D. Droeschel, J. Stueckler, A. Berner, J. Li, R. Klein, S. Behnke), Chapter in Gearing Up and Accelerating Cross‐fertilization between Academic and Industrial Robotics Research in Europe: Technology Transfer Experiments from the ECHORD Project, Springer, 2014. [bib] [doi]
Increasing Flexibility of Mobile Manipulation and Intuitive Human-Robot Interaction in RoboCup@Home (J. Stueckler, D. Droeschel, K. Gräve, D. Holz, M. Schreiber, A. Topaldou-Kyniazopoulou, M. Schwarz, S. Behnke), Chapter in RoboCup 2013, Robot Soccer World Cup XVII, Springer, 2014. [bib] [doi]
2013
NimbRo@Home: Winning Team of the RoboCup@Home Competition 2012 (J. Stueckler, I. Badami, D. Droeschel, K. Gräve, D. Holz, M. McElhone, M. Nieuwenhuisen, M. Schreiber, M. Schwarz, S. Behnke), Chapter in RoboCup 2012, Robot Soccer World Cup XVI, Springer, 2013. [bib] [doi]
2012
Towards Robust Mobility, Flexible Object Manipulation, and Intuitive Multimodal Interaction for Domestic Service Robots (J. Stueckler, D. Droeschel, K. Gräve, D. Holz, J. Kläß, M. Schreiber, R. Steffens, S. Behnke), Chapter in RoboCup 2011, Robot Soccer World Cup XV, Springer, 2012. [bib] [doi]
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Informatik IX

Computer Vision Group

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