Publications

Nao robot inspecting a bathroom Efficient Coverage of 3D Environments with Humanoid Robots Using Inverse Reachability Maps.
Stefan Oßwald, Philipp Karkowski, and Maren Bennewitz.
Proceedings of the IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2017. Accepted for publication.
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Atlas robot planning footsteps Real-Time Footstep Planning in 3D Environments.
Philipp Karkowski, Stefan Oßwald, and Maren Bennewitz.
Proceedings of the IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2016.
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Robot avoiding clutter Foresighted Navigation Through Cluttered Environments.
Peter Regier, Stefan Oßwald, Philipp Karkowski, and Maren Bennewitz.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016. Abstract Download BibTeX DOI
Planning an exploration tour Speeding-Up Robot Exploration by Exploiting Background Information
Stefan Oßwald, Maren Bennewitz, Wolfram Burgard, and Cyrill Stachniss
IEEE Robotics and Automation Letters (RA-L), 2016. Presented at ICRA 2016.
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Generating route descriptions Learning to Give Route Directions from Human Demonstrations
Stefan Oßwald, Henrik Kretzschmar, Wolfram Burgard, and Cyrill Stachniss
Proceedings of the IEEE International Conference on Robotics & Automation (ICRA),
Hong Kong, China, 2014
.
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Nao in front of stairs Monte Carlo Localization for Humanoid Robot Navigation in Complex Indoor Environments
Armin Hornung, Stefan Oßwald, Daniel Maier, and Maren Bennewitz
International Journal of Humanoid Robotics, vol. 11 no. 2, 2014.
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Accurate and reliable localization is a prerequisite for autonomously performing high-level tasks with humanoid robots. In this article, we present a probabilistic localization method for humanoid robots navigating in arbitrary complex indoor environments using only onboard sensing, which is a challenging task. Inaccurate motion execution of biped robots leads to an uncertain estimate of odometry, and their limited payload constrains perception to observations from lightweight and typically noisy sensors. Additionally, humanoids do not walk on flat ground only and perform a swaying motion while walking, which requires estimating a full 6D torso pose. We apply Monte Carlo localization to globally determine and track a humanoid's 6D pose in a given 3D world model, which may contain multiple levels and staircases. We present an observation model to integrate range measurements from a laser scanner or a depth camera as well as attitude data and information from the joint encoders. To increase the localization accuracy, e.g., while climbing stairs, we propose a further observation model and additionally use monocular vision data in an improved proposal distribution. We demonstrate the effectiveness of our methods in extensive real-world experiments with a Nao humanoid. As the experiments illustrate, the robot is able to globally localize itself and accurately track its 6D pose while walking and climbing stairs.
Nao climbing stairs Improved Proposals for Highly Accurate Localization Using Range and Vision Data
Stefan Oßwald, Armin Hornung, and Maren Bennewitz
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS),
Vilamoura, Portugal, 2012

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Stair edges detected in a camera image Accurate 6D Localization in Multi-Level Environments
Stefan Oßwald, Armin Hornung, and Maren Bennewitz
Extended Abstracts of Spatial Cognition (SC), Kloster Seeon, Germany, 2012
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Nao climbing a staircase Techniques for Autonomous Stair Climbing with Humanoid Robots
Stefan Oßwald
Master's Thesis. University of Freiburg, Dept. of Computer Science, Humanoid Robots Lab, 2012
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Nao scanning a staircase From 3D Point Clouds to Climbing Stairs: A Comparison of Plane Segmentation Approaches for Humanoids
Stefan Oßwald, Jens-Steffen Gutmann, Armin Hornung, and Maren Bennewitz
Proceedings of the IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS), Bled, Slovenia, 2011
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Nao examining a staircase Autonomous Climbing of Spiral Staircases with Humanoids
Stefan Oßwald, Attila Görög, Armin Hornung, and Maren Bennewitz
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), San Francisco, CA, USA, 2011
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Nao navigating in a corridor Learning Reliable and Efficient Navigation with a Humanoid
Stefan Oßwald, Armin Hornung, and Maren Bennewitz
Proceedings of the IEEE International Conference on Robotics & Automation (ICRA),
Anchorage, AK, USA, 2010

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Experimental results Learning Adaptive Navigation Strategies for Resource-Constrained Systems
Armin Hornung, Maren Bennewitz, Cyrill Stachniss, Hauke Strasdat, Stefan Oßwald,
and Wolfram Burgard
Proceedings of the 3rd International Workshop on Evolutionary and Reinforcement Learning for Autonomous Robot Systems (ERLARS), Lisboa, Portugal, 2010
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Learning how to navigate to a destination Reliable Vision-based Navigation with a Humanoid Robot
Stefan Oßwald
Bachelor's Thesis. University of Freiburg, Dept. of Computer Science, Humanoid Robots Lab, 2009
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