Publications of IPR

Improving Data Efficiency of Self-supervised Learning for Robotic Grasping.
Berscheid, L.; Rühr, T.; Kröger, T.
2019. 2019 International Conference on Robotics and Automation (ICRA), Montreal, QC, Canada, Canada, 20-24 May 2019, 2125–2131, IEEE, Piscataway (NJ). doi:10.1109/ICRA.2019.8793952

Robotics Education and Research at Scale: A Remotely Accessible Robotics Development Platform.
Wiedmeyer, W.; Mende, M.; Hartmann, D.; Bischoff, R.; Ledermann, C.; Kröger, T.
2019. IEEE International Conference on Robotics and Automation (ICRA), Montreal, CDN, May 20-24, 2019, 3679–3685, IEEE, Piscataway, NJ. doi:10.1109/ICRA.2019.8793976

Augmented reality-assisted ventricular puncture with marker-based scene registration.
Kunz, C.; Schneider, M.; Hlavac, M.; Zenth, D.; Pylatiuk, C.; Hein, B.
2019. International journal of computer assisted radiology and surgery, 14 (Suppl. 1), S151-S152

PaintRL: Coverage Path Planning for Industrial Spray Painting with Reinforcement Learning.
Kiemel, J. C.; Yang, P.; Meißner, P.; Kröger, T.
2019. Workshop on Closing the Reality Gap in Sim2real Transfer for Robotic Manipulation, Freiburg, June 23, 2019

Robot-Based Training for People With Mild Cognitive Impairment [in press].
Stogl, D.; Armbruster, O.; Mende, M.; Hein, B.; Wang, X.; Meyer, P.
2019. IEEE Robotics and automation letters, 4 (2), 1916–1923. doi:10.1109/LRA.2019.2898470

Human intention estimation based on hidden Markov model motion validation for safe flexible robotized warehouses.
Petković, T.; Puljiz, D.; Marković, I.; Hein, B.
2019. Robotics and computer integrated manufacturing, 57, 182–196. doi:10.1016/j.rcim.2018.11.004

Concept Learning in AutomationML with Formal Semantics and Inductive Logic Programming.
Hua, Y.; Hein, B.
2018. 2018 IEEE 14th International Conference on Automation Science and Engineering (CASE), München, 20. - 24. August 2018, 1542–1547, IEEE, Piscataway, NJ. doi:10.1109/COASE.2018.8560541

Towards a Real-Time Environment Reconstruction for VR-Based Teleoperation Through Model Segmentation.
Kohn, S.; Blank, A.; Puljiz, D.; Zenkel, L.; Bieber, O.; Hein, B.; Franke, J.
2018. 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018), Madrid, E, October 1-5, 2018, 1–9, IEEE, Piscataway, NJ. doi:10.1109/IROS.2018.8594053

Model-Free Grasp Planning for Configurable Vacuum Grippers.
You, F.; Mende, M.; Stogl, D.; Hein, B.; Kroger, T.
2018. 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018), Madrid, E, October 1-5, 2018, 4554–4561, IEEE, Piscataway, NJ. doi:10.1109/IROS.2018.8594227

Material Recognition Using a Capacitive Proximity Sensor with Flexible Spatial Resolution.
Alagi, H.; Heiligl, A.; Navarro, S. E.; Kroegerl, T.; Hein, B.
2018. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, 1-5 Oct. 2018, 6284–6290, IEEE, Piscataway (NJ). doi:10.1109/IROS.2018.8593789

Concept learning in engineering based on refinement operator.
Hua, Y.; Hein, B.
2018. Up-and-Coming and Short Papers of the 28th International Conference on Inductive Logic Programming (UCS-ILP 2018) Ferrara, I, September 2-4, 2018, 76–83, RWTH, Aachen

Inspection Planning for Optimized Coverage of Geometrically Complex Surfaces.
Mohammadikaji, M.; Bergmann, S.; Irgenfried, S.; Beyerer, J.; Dachsbacher, C.; Worn, H.
2018. 2018 Workshop on Metrology for Industry 4.0 and IoT, MetroInd 4.0 and IoT 2018; Brescia; Italy; 16 April 2018 through 18 April 2018, 52–57, IEEE, Piscataway (NJ). doi:10.1109/METROI4.2018.8428313

Deep Learning Based 3D Pose Estimation of Surgical Tools Using a RGB-D Camera at the Example of a Catheter for Ventricular Puncture.
Reister, F.; Kunz, C.; Schneider, M.; Kroeger, T.
2018. 17. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie (CURAC), Leipzig, Germany, 13 – 15 September 2018

Deep Learning Based 3D Pose Estimation of Surgical Tools Using a RGB-D Camera at the Example of a Catheter for Ventricular Puncture [in press].
Reister, F.; Kunz, C.; Schneider, M.; Kroeger, T.
2018. 17. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie (CURAC), Leipzig, 13 – 15 September 2018, 28–33

A System for Augmented Reality Guided Ventricular Puncture Using a HoloLens: Design, Implementation and Initial Evaluation [in press].
Kunz, C.; Hlavac, M.; Schneider, M.; Hein, B.; Puljiz, D.; Peikert, S.
2018. 17. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie (CURAC), Leipzig, Germany, 13 - 15 September 2018, 132–137

Substitution and Complementation of Production Management Functions with Data Analytics.
Colangelo, E.; Kröger, T.; Bauernhansl, T.
2018. Procedia CIRP, 72, 191–196. doi:10.1016/j.procir.2018.03.145

Substitution and Complementation of Production Management Functions with Data Analytics.
Colangelo, E.; Kröger, T.; Bauernhansla, T.
2018. 51st CIRP Conference on Manufacturing Systems, Stockholm, S, May 16-18, 2018

Adaptive particle filter for localization problem in service robotics.
Heilig, A.; Mamaev, I.; Hein, B.; Malov, D.
2018. Proceedings of the 13th International Conference on Electromechanics and Robotics "Zavalishin’s Readings", St. Petersburg, Russia, 18th - 21st April 2018, Art.Nr. 01004, EDP Sciences, London. doi:10.1051/matecconf/201816101004

Tracking, reconstruction and grasping of unknown rotationally symmetrical objects from a conveyor belt.
Stogl, D.; Zumkeller, D.; Navarro, S. E.; Heilig, A.; Hein, B.
2018. 2017 22nd IEEE International Conference on Emerging Technologies and Factory Automation, Limassol, Cyprus, 12th - 15th September 2017, 1–8, IEEE, Piscataway (NJ). doi:10.1109/ETFA.2017.8247651

A versatile hardware and software toolset for computer aided inspection planning of machine vision applications.
Irgenfried, S.; Wörn, H.; Bergmann, S.; Mohammadikajii, M.; Beyerer, J.; Dachsbacher, C.
2018. 38th International Conference on Information Systems Architecture and Technology, ISAT 2017; Szklarska Poreba; Poland; 17 September 2017 through 19 September 2017. Ed.: L. Borzemski, 326–335, Springer, Cham. doi:10.1007/978-3-319-67220-5_30

Modulare und Wandlungsfähige Robotersysteme: Modellbasierte Softwareentwicklung basierend auf AutomationML und ontologischer Semantik.
Hua, Y.; Mende, M.; Hein, B.
2017. Industrie 4.0 Management, (6), 33–37

Image formation simulation for computer-aided inspection planning of machine vision systems.
Irgenfried, S.; Bergmann, S.; Mohammadikaji, M.; Beyerer, J.; Dachsbacher, C.; Wörn, H.
2017. Automated Visual Inspection and Machine Vision II - SPIE Optical Metrology, Munich, Germany, 25 - 29 June 2017. Ed.: J. Beyerer, 1033406, SPIE, Bellingham (WA). doi:10.1117/12.2269166

CAD-basierter Workflow für den semi-automatischen Entwurf optischer Inspektionssysteme [CAD based workflow for semi-automatic design of optical inspection systems].
Irgenfried, S.; Wörn, H.; Bergmann, S.; Mohammadikaji, M.; Beyerer, J.; Dachsbacher, C.
2017. Automatisierungstechnik, 65 (6), 426–439. doi:10.1515/auto-2017-0044

Probabilistic surface inference for industrial inspection planning.
Mohammadikaji, M.; Bergmann, S.; Irgenfried, S.; Beyerer, J.; Dachsbacher, C.; Wörn, H.
2017. 17th IEEE Winter Conference on Applications of Computer Vision, Santa Rosa, United States, 24. - 31. March, 2017, 1008–1016, IEEE, Piscataway (NJ). doi:10.1109/WACV.2017.117

Polymer planar waveguide Bragg gratings: fabrication, characterization, and sensing applications.
Rosenberger, M.; Hessler, S.; Pauer, H.; Girschikofsky, M.; Roth, G. L.; Adelmann, B.; Woern, H.; Schmauss, B.; Hellmann, R.
2017. Integrated Optics: Devices, Materials, and Technologies XXI, San Francisco, CA, January 30 - February 1, 2017. Ed.: S.M. Garcia-Blanco, Article no 101061N, SPIE, Bellingham (WA). doi:10.1117/12.2249830

Dex-net 1.0: A cloud-based network of 3d objects for robust grasp planning using a multi-armed bandit model with correlated rewards.
Mahler, J.; Pokorny, F. T.; Hou, B.; Roderick, M.; Laskey, M.; Aubry, M.; Kohlhoff, K.; Kröger, T.; Kuffner, J.; Goldberg, K.
2016. Proceedings of the International Conference on Robotics and Automation (ICRA 2016), Stockholm, S, May 16-21, 2016, 1957–1964, IEEE, Piscataway (NJ). doi:10.1109/ICRA.2016.7487342

Konzeptionierung und Implementierung eines Interpretationssystem zur Situationserkennung in OP:Sense.
Schreiter, L.; Wörtwein, T.; Jöchner, M.; Hussain, J.; Wörn, H.; Raczkowsky, J.
2016. Tagungsband der 15. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie (CURAC) Bern, Switzerland, September 29 - October 1, 2016, 268–271, Der Andere Verlag, [Uelvesbüll], Stuttgart

Situation Detection for an Interactive Assistance in Surgical Interventions Based on Random Forests.
Schreiter, L.; Philipp, P.; Giehl, J.; Fischer, Y.; Raczkowsky, J.; Schwarz, M.; Beyerer, J.; Wörn, H.
2016. International journal of computer assisted radiology and surgery, 11 (Supplement 1), 115–116

Situation Detection for an Interactive Assistance in Surgical Interventions Based on Dynamic Bayesian Networks.
Philipp, P.; Schreiter, L.; Giehl, J.; Fischer, Y.; Raczkowsky, J.; Schwarz, M.; Wörn, H.; Beyerer, J.
2016. Proceedings of the 6th Joint Workshop On New Technologies for Computer/Robot Assisted Surgery, CRAS 2016, Pisa, Italy, 12th - 14th September 2016

Intuitive workflow editor for OWL based semantic networks in medical environment.
Dürr, S.; Huck, A.; Schreiter, L.; Beyl, T.; Giehl, J.; Schwarz, M.; Raczkowsky, J.; Wörn, H.
2016. International journal of computer assisted radiology and surgery, 11 (Supplement 1), 114–115

Semantic object-oriented programming (SOOP).
Weber, F.; Bihlmaier, A.; Wörn, H.
2016. 46. Jahrestagung der Gesellschaft fur Informatik - 46th Annual Meeting of the German Informatics Society, INFORMATIK 2016; Klagenfurt; Austria; 26 September 2016 through 30 September 2016. Ed.: H. C. Mayr, 313–326, Gesellschaft fur Informatik (GI), Bonn

Performance Characterization in Automated Optical Inspection using CAD Models and Graphical Simulations.
Mohammadikaji, M.; Bergmann, S.; Irgenfried, S.; Beyerer, J.; Dachsbacher, C.; Wörn, H.
2016. XXX. Messtechnisches Symposium, Hannover, 15. - 16. September 2016, 141–150, De Gruyter Oldenbourg, Berlin. doi:10.1515/9783110494297-019

A Phenomenological Approach to Integrating Gaussian Beam Properties and Speckle into a Physically-Based Renderer.
Bergmann, S.; Mohammadikaji, M.; Irgenfried, S.; Wörn, H.; Beyerer, J.; Dachsbacher, C.
2016. VMV 2016 : 21th International Symposium on Vision, Modeling and Visualization, Bayreuth, Germany, 10-12 October 2016. Ed.: M. Hullin, 179–186, Eurographics Association, Aire-la-Ville. doi:10.2312/vmv.20161357

Flexible Spatial Resolution for Preshaping with a Modular Capacitive Tactile Proximity Sensor.
Escaida Navarro, S.; Alagi, H.; Heilig, A.; Mende, M.; Hein, B.
2016. IROS 2016 : 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems : October 9-14, 2016, Daejeon Convention Center, Daejeon, Korea, 3–5, IEEE, Danvers

Endosnake—a single-arm-multi-port MIRS system with flexible instruments.
Mintenbeck, J.; Ledermann, C.; Estaña, R.; Wörn, H.
2016. 13th International Conference on Intelligent Autonomous Systems, IAS 2014; Padova; Italy; 15 July 2014 through 18 July 2014. Ed.: E. Menegatti, 1107–1117, Springer International Publishing, Cham. doi:10.1007/978-3-319-08338-4_80

Model-Free (Human) Tracking Based on Ground Truth with Time Delay: A 3D Camera Based Approach for Minimizing Tracking Latency and Increasing Tracking Quality.
Nicolai, P.; Raczkowsky, J.; Wörn, H.
2016. Informatics in Control, Automation and Robotics 12th International Conference, ICINCO 2015 Colmar, France, July 21-23, 2015 Revised Selected Papers. Ed.: J. Filipe, 247–266, Springer International Publishing, Cham. doi:10.1007/978-3-319-31898-1_14

Hierarchical Task Networks as Domain-Specific Language for Planning Surgical Interventions.
Bihlmaier, A.; Schreiter, L.; Raczkowsky, J.; Wörn, H.
2016. 13th International Conference on Intelligent Autonomous Systems, IAS 2014; Padova; Italy; 15 July 2014 through 18 July 2014. Ed.: E. Menegatti, 1095–1105, Springer International Publishing, Cham. doi:10.1007/978-3-319-08338-4_79

Knowledge-based workspace optimization of a redundant robot for minimally invasive robotic surgery (MIRS).
Hutzl, J.; Bihlmaier, A.; Wagner, M.; Kenngott, H. G.; Muller, B. P.; Worn, H.
2016. IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015; Zhuhai Dehan HotelNo.2 Jida RoadZhuhai; China; 6 December 2015 through 9 December 2015, 1403–1408, IEEE, Piscataway (NJ). doi:10.1109/ROBIO.2015.7418967

From AutomationML to ROS: A model-driven approach for software engineering of industrial robotics using ontological reasoning.
Hua, Y.; Zander, S.; Bordignon, M.; Hein, B.
2016. 2016 IEEE 21st International Conference on Emerging Technologies and Factory Automation (ETFA), Berlin, Germany, 6–9 September 2016, 1–8, IEEE, Piscataway (NJ). doi:10.1109/ETFA.2016.7733579

Time-of-flight-assisted Kinect camera-based people detection for intuitive human robot cooperation in the surgical operating room.
Beyl, T.; Nicolai, P.; Comparetti, M. D.; Raczkowsky, J.; De Momi, E.; Woern, H.
2016. International journal of computer assisted radiology and surgery, 11 (7), 1329–1345. doi:10.1007/s11548-015-1318-7

Towards a generic BRDF/BTF measurement system: Improving visual realism in robot simulators using robots.
Bihlmaier, A.; Stein, F.; Worn, H.
2016. IEEE International Conference on Emerging Technologies and Innovative Business Practices for the Transformation of Societies (EmergiTech), Mauritius, 3–6 August 2016, 410–416, IEEE, Piscataway (NJ). doi:10.1109/EmergiTech.2016.7737376

3D contour following for a cylindrical end-effector using capacitive proximity sensors.
Navarro, S. E.; Koch, S.; Hein, B.
2016. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Daejeon, South Korea, 9–14 October 2016, 82–89, IEEE, Piscataway (NJ). doi:10.1109/IROS.2016.7759038

Towards 1-component Bragg-grating based shape sensing.
Pauer, H.; Rosenberger, M.; Girschikofsky, M.; Hellmann, R.; Tuschmann, W.; Woern, H.
2016. 19th International Conference on Information Fusion (FUSION), Heidelberg, Germany, 5-8 July 2016, 1909–1915, IEEE, Piscataway (NJ)

Reducing elevation angle errors of long-range deep-sea acoustic localization by ray tracing and depth measurements.
Oertel, D.; Neumann, S.; Worn, H.; Golz, M.; Waniek, J. J.
2016. IEEE International Conference on Advanced Intelligent Mechatronics (AIM), Banff, Canada, 12-15 July 2016, 178–183, IEEE, Piscataway (NJ). doi:10.1109/AIM.2016.7576763

Flexible Polymer Shape Sensor Based on Planar Waveguide Bragg Gratings.
Rosenberger, M.; Pauer, H.; Girschikofsky, M.; Woern, H.; Schmauss, B.; Hellmann, R.
2016. IEEE photonics technology letters, 28 (17), 1898–1901. doi:10.1109/LPT.2016.2574889

A versatile and modular capacitive tactile proximity sensor.
Alagi, H.; Navarro, S. E.; Mende, M.; Hein, B.
2016. 24th IEEE Haptics Symposium 2016, HAPTICS 2016; Philadelphia; United States; 8 April 2016 through 11 April 2016. Ed.: S. Choi, 290–296, IEEE Computer Society, Los Almitos (CA). doi:10.1109/HAPTICS.2016.7463192

3D perception technologies for surgical operating theatres.
Beyl, T.; Schreiter, L.; Nicolai, P.; Raczkowsky, J.; Wörn, H.
2016. Studies in health technology and informatics, 220, 45–50. doi:10.3233/978-1-61499-625-5-45

Hybrid rendering architecture for realtime and photorealistic simulation of robot-assisted surgery.
Müller, S.; Bihlmaier, A.; Irgenfried, S.; Wörn, H.
2016. Studies in Health Technology and Informatics, 220, 245–250. doi:10.3233/978-1-61499-625-5-245

A Haptic Display for Tactile and Kinesthetic Feedback in a CHAI 3D Palpation Training Scenario.
Hergenhan, J.; Rutschke, J.; Uhl, M.; Navarro, S. E.; Hein, B.; Wörn, H.
2016. IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015; Zhuhai Dehan HotelNo.2 Jida RoadZhuhai; China; 6 December 2015 through 9 December 2015, 291–296, IEEE, Piscataway (NJ). doi:10.1109/ROBIO.2015.7418782

Advanced ROS Network Introspection (ARNI).
Bihlmaier, A.; Hadlich, M.; Wörn, H.
2016. Robot Operating System (ROS) - The Complete Reference (Volume 1). Ed.: A. Koubaa, 651–670, Springer, Cham. doi:10.1007/978-3-319-26054-9_25