Publications

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Books

Approaches to Probabilistic Model Learning for Mobile Manipulation Robots (J. Sturm), Springer, 2013.
[bib]Received the Artificial Intelligence Dissertation Award 2011 (ECCAI) and the Wolfgang-Genter-Award 2011 (University of Freiburg); Finalist at the Georges-Giralt-Award 2012 (EURON); Selected for the Best Paper Track at IJCAI 2013

Journal Articles and Book Chapters

Scale-Aware Navigation of a Low-Cost Quadrocopter with a Monocular Camera (J. Engel, J. Sturm, D. Cremers), In Robotics and Autonomous Systems (RAS), volume 62, 2014.
[bib] [engel14ras.pdf]
Introduction to the special issue on visual understanding and applications with RGB-D cameras (Z. Liu, M. Beetz, D. Cremers, J. Gall, W. Li, D. Pangercic, J. Sturm, Y.-W. Tai), In Journal of Visual Communication and Image Representation (JVCI), 2013.
[bib]
3D Mapping with an RGB-D Camera (F. Endres, J. Hess, J. Sturm, D. Cremers, W. Burgard), In IEEE Transactions on Robotics (T-RO), volume 30, 2013.
[bib] [endres2013tro.pdf]
Body Schema Learning (J. Sturm, C. Plagemann, W. Burgard), Chapter in Towards Service Robots for Everyday Environments, Springer Berlin/Heidelberg, 2012.
[bib] [sturm12body.pdf]
Online-6D-SLAM für RGB-D-Sensoren (F. Endres, J. Hess, N. Engelhard, J. Sturm, W. Burgard), In at – Automatisierungstechnik, volume 60, May, 2012.
[bib] [endres12at.pdf]
A Probabilistic Framework for Learning Kinematic Models of Articulated Objects (J. Sturm, C. Stachniss, W. Burgard), In Journal on Artificial Intelligence Research (JAIR), volume 41, August, 2011.
[bib] [sturm11jair.pdf]
Tactile Sensing for Mobile Manipulation (S. Chitta, J. Sturm, M. Piccoli, W. Burgard), In IEEE Transactions on Robotics (T-RO), 2011.
[bib] [chitta10tro.pdf]
Body schema learning for robotic manipulators from visual self-perception (J. Sturm, C. Plagemann, W. Burgard), In Journal of Physiology-Paris, volume 103, Sept., 2009.
[bib] [sturm09jp.pdf] [doi]
An appearance-based visual compass for mobile robots (J. Sturm, A. Visser), In Robotics and Autonomous Systems, volume 57, May, 2009.
[bib] [sturm09ras.pdf] [doi]

Conference Papers

2D-SDF-SLAM: A Signed Distance Function based SLAM System for Laser Scanners (J. Fossel, J. Sturm, K. Tuyls), In Proc. of the International Conference on Intelligent Robot Systems (IROS), Sept., 2015.
[bib]
Submap-based Bundle Adjustment for 3D Reconstruction from RGB-D Data (R. Maier, J. Sturm, D. Cremers), In German Conference on Pattern Recognition (GCPR), September, 2014.
[bib] [maier2014gcpr.pdf]
Towards Illumination-Invariant 3D Reconstruction Using ToF RGB-D Cameras (C. Kerl, M. Souiai, J. Sturm, D. Cremers), In International Conference on 3D Vision (3DV), Nov., 2014.
[bib] [kerl143dv.pdf]
Collision Avoidance for Quadrotors with a Monocular Camera (H. Alvarez, L.M. Paz, J. Sturm, D. Cremers), In Proc. of The 12th International Symposium on Experimental Robotics (ISER), 2014.
[bib] [alvarez14iser.pdf]
Volumetric 3D Mapping in Real-Time on a CPU (F. Steinbruecker, J. Sturm, D. Cremers), In Int. Conf. on Robotics and Automation, 2014.
[bib] [steinbruecker_etal_icra2014.pdf]
Dense Tracking and Mapping with a Quadrocopter (J. Sturm, E. Bylow, F. Kahl, D. Cremers), In Unmanned Aerial Vehicle in Geomatics (UAV-g), September, 2013.
[bib] [sturm_etal_2013uavg.pdf]
CopyMe3D: Scanning and Printing Persons in 3D (J. Sturm, E. Bylow, F. Kahl, D. Cremers), In German Conference on Pattern Recognition (GCPR), September, 2013.
[bib] [sturm_etal_2013gcpr.pdf]
Learning Probabilistic Models for Mobile Manipulation Robots (J. Sturm, W. Burgard), In Proc. of the International Joint Conference on Artificial Intelligence (IJCAI), Track on Best papers in Sister Conferences, 2013.
[bib] [sturm13ijcai.pdf] [sturm13ijcai.pptx]
FollowMe: Person Following and Gesture Recognition with a Quadrocopter (T. Naseer, J. Sturm, D. Cremers), In Proc. of the Int. Conf. on Intelligent Robot Systems (IROS), 2013.
[bib] [naseer2013iros.pdf]
Scale-Aware Object Tracking with Convex Shape Constraints on RGB-D Images (M. Klodt, J. Sturm, D. Cremers), In German Conference on Pattern Recognition (GCPR), September, 2013.
[bib] [klodt_etal_2013gcpr.pdf]
Dense Visual SLAM for RGB-D Cameras (C. Kerl, J. Sturm, D. Cremers), In Proc. of the Int. Conf. on Intelligent Robot Systems (IROS), 2013.
[bib] [kerl13iros.pdf]
Robust Odometry Estimation for RGB-D Cameras (C. Kerl, J. Sturm, D. Cremers), In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), May, 2013.
[bib] [kerl13icra.pdf]Best Vision Paper Award – Finalist
Semi-Dense Visual Odometry for a Monocular Camera (J. Engel, J. Sturm, D. Cremers), In IEEE International Conference on Computer Vision (ICCV), December, 2013.
[bib] [engel2013iccv.pdf] [engel2013iccv.avi]
Real-Time Camera Tracking and 3D Reconstruction Using Signed Distance Functions (E. Bylow, J. Sturm, C. Kerl, F. Kahl, D. Cremers), In Robotics: Science and Systems Conference (RSS), June, 2013.
[bib] [bylow_etal_rss2013.pdf]
Graph-based bundle adjustment for INS-camera calibration (D. Bender, M. Schikora, J. Sturm, D. Cremers), In Unmanned Aerial Vehicle in Geomatics (UAV-g), September, 2013.
[bib] [bender_etal_2013uavg.pdf]Best research paper award
Large-Scale Multi-Resolution Surface Reconstruction from RGB-D Sequences (F. Steinbruecker, C. Kerl, J. Sturm, D. Cremers), In IEEE International Conference on Computer Vision (ICCV), 2013.
[bib] [steinbruecker_etal_iccv2013.pdf]
Real-Time Human Motion Tracking using Multiple Depth Cameras (L. Zhang, J. Sturm, D. Cremers, D. Lee), In Proc. of the International Conference on Intelligent Robot Systems (IROS), Oct., 2012.
[bib] [zhang12iros.pdf]
A Benchmark for the Evaluation of RGB-D SLAM Systems (J. Sturm, N. Engelhard, F. Endres, W. Burgard, D. Cremers), In Proc. of the International Conference on Intelligent Robot Systems (IROS), Oct., 2012.
[bib] [sturm12iros.pdf]
A Generalized Framework for Opening Doors and Drawers in Kitchen Environments (T. Ruehr, J. Sturm, D. Pangercic, M. Beetz, D. Cremers), In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), May, 2012.
[bib] [ruehr12icra.pdf]
Camera-Based Navigation of a Low-Cost Quadrocopter (J. Engel, J. Sturm, D. Cremers), In Proc. of the International Conference on Intelligent Robot Systems (IROS), Oct., 2012.
[bib] [engel12iros.pdf] [engel12iros.avi]
An Evaluation of the RGB-D SLAM System (F. Endres, J. Hess, N. Engelhard, J. Sturm, D. Cremers, W. Burgard), In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), May, 2012.
[bib] [endres12icra.pdf]
Operating Articulated Objects Based on Experience (J. Sturm, A. Jain, C. Stachniss, C. C. Kemp, W. Burgard), In Proc. of the International Conference on Intelligent Robot Systems (IROS), Oct., 2010.
[bib] [sturm10iros.pdf]
Vision-based Detection for Learning Articulation Models of Cabinet Doors and Drawers in Household Environments (J. Sturm, K. Konolige, C. Stachniss, W. Burgard), In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), May, 2010.
[bib] [sturm10icra.pdf]
Tactile Object Class and Internal State Recognition for Mobile Manipulation (S. Chitta, M. Piccoli, J. Sturm), In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), May, 2010.
[bib] [chitta10icra.pdf]
Learning Kinematic Models for Articulated Objects (J. Sturm, V. Pradeep, C. Stachniss, C. Plagemann, K. Konolige, W. Burgard), In Proc. of the International Joint Conference on Artificial Intelligence (IJCAI), July, 2009.
[bib] [sturm09ijcai.pdf]
Object Identification with Tactile Sensors Using Bag-of-Features (A. Schneider, J. Sturm, C. Stachniss, M. Reisert, H. Burkhardt, W. Burgard), In Proc. of the International Conference on Intelligent Robot Systems (IROS), Oct., 2009.
[bib] [schneida09iros.pdf]
Regression-Based Online Situation Recognition for Vehicular Traffic Scenarios (D. Meyer-Delius, J. Sturm, W. Burgard), In Proc. of the International Conference on Intelligent Robot Systems (IROS), Oct., 2009.
[bib] [meyerdelius09iros.pdf]
Imitation Learning with Generalized Task Descriptions (C. Eppner, J. Sturm, M. Bennewitz, C. Stachniss, W. Burgard), In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), May, 2009.
[bib] [eppner09icra.pdf]
Adaptive Body Scheme Models for Robust Robotic Manipulation (J. Sturm, C. Plagemann, W. Burgard), In Robotics: Science and Systems Conference (RSS), June, 2008.
[bib] [sturm08rss.pdf]
Unsupervised Body Scheme Learning through Self-Perception (J. Sturm, C. Plagemann, W. Burgard), In Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), May, 2008.
[bib] [sturm08icra.pdf]
Dutch AIBO Team at RoboCup 2006 (A. Visser, P. van Rossum, J. Westra, J. Sturm, D. A. van Soest, M. de Greef), In Proceedings CD RoboCup 2006, Bremen, Germany, June, 2006.
[bib] [visser06robocup-tdp.pdf]
Robot companion localization at home and in the office (A. Visser, J. Sturm, F.C.A. Groen), In Proc. of the Belgian-Netherlands Artificial Intelligence Conference (BNAIC), Oct., 2006.
[bib] [visser06bnaic.pdf] [visser06bnaic.ppt]
Panoramic Localization in the 4-Legged League (J. Sturm, P. van Rossum, A. Visser), In Proc. of the RoboCup International Symposium (G. Lakemeyer, E. Sklar, D. Sorrenti, T. Takahashi, eds.), Springer, volume 4434, June, 2006.
[bib] [sturm06robocup.pdf]
Autonomous Color Learning in an Artificial Environment (D. A. van Soest, M. de Greef, J. Sturm, A. Visser), In Proc. of the Belgian-Netherlands Artificial Intelligence Conference (BNAIC), Oct., 2006.
[bib] [soest06bnaic.pdf]
Dutch AIBO Team at RoboCup 2005 (N. Wijngaards, F. Dignum, P. Jonker, T. de Ridder, A. Visser, S. Leijnen, J. Sturm, S. van Weers), In Proceedings CD RoboCup 2005, Osaka, Japan, July, 2005.
[bib] [wijngaards05robocup-tdp.pdf]

Workshop Papers

Visual-Inertial Navigation for a Camera-Equipped 25g Nano-Quadrotor (O. Dunkley, J. Engel, J. Sturm, D. Cremers), In IROS2014 Aerial Open Source Robotics Workshop, 2014.
[bib] [dunkley14iros.pdf]
INS-Camera Calibration without Ground Control Points (D. Bender, M. Schikora, J. Sturm, D. Cremers), In 9th IEEE ISIF Workshop on Sensor Data Fusion: Trends, Solutions, Applications (SDF), 2014.
[bib] [bender_sdf2014.pdf]
Interactive Person Following and Gesture Recognition with a Flying Robot (T. Naseer, J. Sturm, D. Cremers), In Proc. of the Assistance and Service Robotics Workshop (ASROB) at the IEEE. Int. Conf. on Intelligent Robots and Systems (IROS), Nov., 2013.
[bib] [naseer13iros_ws.pdf]
Direct Camera Pose Tracking and Mapping With Signed Distance Functions (E. Bylow, J. Sturm, C. Kerl, F. Kahl, D. Cremers), In Demo Track of the RGB-D Workshop on Advanced Reasoning with Depth Cameras at the Robotics: Science and Systems Conference (RSS), June, 2013.
[bib] [bylow_etal_rss2013rgbd_workshop.pdf]
Evaluating Egomotion and Structure-from-Motion Approaches Using the TUM RGB-D Benchmark (J. Sturm, W. Burgard, D. Cremers), 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.
[bib] [sturm12iros_ws.pdf]
Accurate Figure Flying with a Quadrocopter Using Onboard Visual and Inertial Sensing (J. Engel, J. Sturm, D. Cremers), In Proc. of the Workshop on Visual Control of Mobile Robots (ViCoMoR) at the IEEE/RJS International Conference on Intelligent Robot Systems (IROS), Oct., 2012.
[bib] [engel12vicomor.pdf]
Towards a benchmark for RGB-D SLAM evaluation (J. Sturm, S. Magnenat, N. Engelhard, F. Pomerleau, F. Colas, W. Burgard, D. Cremers, R. Siegwart), In Proc. of the RGB-D Workshop on Advanced Reasoning with Depth Cameras at Robotics: Science and Systems Conf. (RSS), June, 2011.
[bib] [sturm_et_al_rss11-talk.pdf] [sturm11rss-rgbd.pdf]
Real-Time Visual Odometry from Dense RGB-D Images (F. Steinbruecker, J. Sturm, D. Cremers), In Workshop on Live Dense Reconstruction with Moving Cameras at the Intl. Conf. on Computer Vision (ICCV), 2011.
[bib] [steinbruecker_sturm_cremers_iccv11.pdf]
Learning the State Transition Model to Efficiently Clean Surfaces with Mobile Manipulation Robots (J. Hess, J. Sturm, W. Burgard), In Proc. of the Workshop on Manipulation under Uncertainty at the IEEE Int. Conf. on Robotics and Automation (ICRA), May, 2011.
[bib] [hess11wuu.pdf]
Real-time 3D visual SLAM with a hand-held camera (N. Engelhard, F. Endres, J. Hess, J. Sturm, W. Burgard), In Proc. of the RGB-D Workshop on 3D Perception in Robotics at the European Robotics Forum, April, 2011.
[bib] [youtube] [youtube] [youtube] [engelhard11euron.pdf]
Mobile Manipulation of Kitchen Containers (J. Becker, C. Bersch, D. Pangercic, B. Pitzer, T. Rühr, B. Sankaran, J. Sturm, C. Stachniss, M. Beetz, W. Burgard), In Proc. of the IROS’11 Workshop on Results, Challenges and Lessons Learned in Advancing Robots with a Common Platform, 2011.
[bib] [becker11irosws.pdf]
3D Pose Estimation, Tracking and Model Learning of Articulated Objects from Dense Depth Video using Projected Texture Stereo (J. Sturm, K. Konolige, C. Stachniss, W. Burgard), In Proc. of the Workshop on Advanced Reasoning with Depth Cameras at the Robotics: Science and Systems Conference (RSS), June, 2010.
[bib] [sturm10rss.pdf]
Towards Understanding Articulated Objects (J. Sturm, C. Stachniss, V. Pradeep, C. Plagemann, K. Konolige, W. Burgard), In Proc. of the Workshop on Robot Manipulation at Robotics: Science and Systems Conference (RSS), June, 2009.
[bib] [sturm09rss-manip.pdf]
Learning Kinematics from Direct Self-Observation Using Nearest-Neighbor Methods (H. Schulz, L. Ott, J. Sturm, W. Burgard), In Proc. of the German Workshop on Robotics, June, 2009.
[bib] [schulz09gwr.pdf]
Body Scheme Learning and Life-Long Adaptation for Robotic Manipulation (J. Sturm, C. Plagemann, W. Burgard), In Proc. of the Workshop on Robot Manipulation at the Robotics: Science and Systems Conference (RSS), June, 2008.
[bib] [sturm08rss-workshop.pdf]

Other Publications

Semi-dense simultaneous localization and mapping (J. Engel, J. Sturm, D. Cremers), WO Patent App. PCT/EP2014/068,338, Apr., 2015.
[bib]
An apparatus and method for tracking and reconstructing three-dimensional objects (J. Sturm, D. Cremers), EP Patent App. EP20,130,190,218, Dec., 2014.
[bib]
Lecture Notes: Visual Navigation for Flying Robots (J. Sturm), Technische Universität München, Germany, June, 2013.
[bib] [visnav2013lecturenotes.pdf]Distinguished with the TUM TeachInf Award for the best lecture in summer term 2013
Lecture Notes: Visual Navigation for Flying Robots (J. Sturm), Technische Universität München, Germany, June, 2012.
[bib] [sturm12lecturenotes.pdf]Distinguished with the TUM TeachInf Award for the best lecture in summer term 2012
Approaches to Probabilistic Model Learning for Mobile Manipulation Robots (J. Sturm), PhD thesis, University of Freiburg, May, 2011.
[bib] [sturm11phd.pdf] [sturm11phd.zip]Received the Artificial Intelligence Dissertation Award 2011 (ECCAI) and the Wolfgang-Genter-Award 2011 (University of Freiburg); Finalist at the Georges-Giralt-Award 2012 (EURON); Selected for the Best Paper Track at IJCAI 2013
An appearance-based Visual Compass for Mobile Robots (J. Sturm), Master’s thesis, University of Amsterdam, Dec., 2006.
[bib] [sturm2006msc.pdf] [sturm2006msc.zip]
Dutch Aibo Team: Technical Report RoboCup 2006 (A. Visser, J. Sturm, P. van Rossum, J. Westra, T. Bink), Technical report, Dutch Aibo Team, Dec., 2006.
[bib] [visser06robocup-techrep.pdf]
Dutch Aibo Team: Technical Report RoboCup 2005 (J. Sturm, A. Visser, N. Wijngaards), Technical report, Dutch Aibo Team, Oct., 2005.
[bib] [sturm05robocup-techrep.pdf]
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