publications

publications by categories in reversed chronological order. generated by jekyll-scholar.

2025

  1. LIO-MARS: Non-uniform Continuous-time Trajectories for Real-time LiDAR-Inertial-Odometry
    Jan Quenzel and Sven Behnke
    2025
    submitted to IEEE Transactions on Robotics (T-RO)
  2. Efficient Real-Time Calibration and Odometry for Dense Multi-Modal Mapping with UAVs
    Jan Quenzel
    Rheinische Friedrich-Wilhelms-Universität Bonn, Nov 2025
  3. Aerial Assistance System for Automated Firefighting during Turntable Ladder Operations
    Jan Quenzel, Valerij Sekin, Daniel Schleich, Alexander Miller, Merlin Stampa, Norbert Pahlke, and 2 more authors
    In Proceedings of the IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR), Nov 2025
  4. Remote Autonomy for Multiple Small Lowcost UAVs in GNSS-denied Search and Rescue Operations
    Daniel Schleich, Jan Quenzel, and Sven Behnke
    In Proceedings of the IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR), Nov 2025

2024

  1. LiDAR-Based Registration Against Georeferenced Models for Globally Consistent Allocentric Maps
    Jan Quenzel, Linus T. Mallwitz, Benedikt T. Arnold, and Sven Behnke
    In Proceedings of the IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR), Nov 2024
    DOI
  2. Lessons from robot-assisted disaster response deployments by the German Rescue Robotics Center task force
    Hartmut Surmann, Kevin Daun, Marius Schnaubelt, Oskar von Stryk, Manuel Patchou, Stefan Böcker, and 8 more authors
    Journal of Field Robotics (JFR), Nov 2024
    DOI

2023

  1. Real-Time Multi-Modal Semantic Fusion on Unmanned Aerial Vehicles with Label Propagation for Cross-Domain Adaptation
    Simon Bultmann, Jan Quenzel, and Sven Behnke
    Journal of Robotics and Autonomous Systems, Nov 2023
    DOI

2022

  1. Target Chase, Wall Building, and Fire Fighting: Autonomous UAVs of Team NimbRo at MBZIRC 2020
    Marius Beul, Max Schwarz, Jan Quenzel, Malte Splietker, Simon Bultmann, Daniel Schleich, and 8 more authors
    Field Robotics, Nov 2022
    DOI
  2. Autonomous Wall-building and Firefighting: Team NimbRo’s UGV Solution for MBZIRC 2020
    Christian Lenz, Jan Quenzel, Arul Selvam Periyasamy, Jan Razlaw, Andre Rochow, Malte Splietker, and 4 more authors
    Field Robotics, Nov 2022
    DOI

2021

  1. German Rescue Robotics Center (DRZ): A Holistic Approach for Robotic Systems Assisting in Emergency Response
    Ivana Kruijff-Korbayova, Robert Grafe, Nils Heidemann, Alexander Berrang, Cai Hussung, Christian Willms, and 28 more authors
    In Proceedings of the IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR), Nov 2021
    DOI
  2. LatticeNet: Fast Spatio-Temporal Point Cloud Segmentation Using Permutohedral Lattices
    Radu Alexandru Rosu, Peer Schütt, Jan Quenzel, and Sven Behnke
    Autonomous Robots, Nov 2021
    DOI
  3. Real-time Multi-Adaptive-Resolution-Surfel 6D LiDAR Odometry using Continuous-time Trajectory Optimization
    Jan Quenzel and Sven Behnke
    In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Nov 2021
    DOI
  4. Real-Time Multi-Modal Semantic Fusion on Unmanned Aerial Vehicles
    Simon Bultmann, Jan Quenzel, and Sven Behnke
    In Proceedings of the European Conference on Mobile Robots (ECMR), Nov 2021
    DOI
  5. Autonomous Flight in Unknown GNSS-denied Environments for Disaster Examination
    Daniel Schleich, Marius Beul, Jan Quenzel, and Sven Behnke
    In Proceedings of the International Conference on Unmanned Aircraft Systems (ICUAS), Nov 2021
    DOI
  6. Autonomous Fire Fighting with a UAV-UGV Team at MBZIRC 2020
    Jan Quenzel, Malte Splietker, Dmytro Pavlichenko, Daniel Schleich, Christian Lenz, Max Schwarz, and 3 more authors
    In Proceedings of the International Conference on Unmanned Aircraft Systems (ICUAS), Nov 2021
    DOI
  7. Towards 3D LiDAR-based Semantic Scene Understanding of 3D Point Cloud Sequences - The SemanticKITTI Dataset
    Jens Behley, Martin Garbade, Andres Milioto, Jan Quenzel, Sven Behnke, Jürgen Gall, and 1 more author
    The International Journal of Robotics Research (IJRR), Nov 2021
    DOI

2020

  1. LatticeNet: Fast Point Cloud Segmentation Using Permutohedral Lattices
    Radu Alexandru Rosu, Peer Schütt, Jan Quenzel, and Sven Behnke
    In Proceedings of Robotics: Science and Systems (RSS), Nov 2020
    DOI
  2. Beyond Photometric Consistency: Gradient-based Dissimilarity for Improving Visual Odometry and Stereo Matching
    Jan Quenzel, Radu Alexandru Rosu, Thomas Läbe, Cyrill Stachniss, and Sven Behnke
    In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Nov 2020
    DOI
  3. Semi-supervised Semantic Mapping Through Label Propagation with Semantic Texture Meshes
    Radu Alexandru Rosu, Jan Quenzel, and Sven Behnke
    International Journal of Computer Vision (IJCV), Nov 2020
    DOI

2019

  1. SemanticKITTI: A Dataset for Semantic Scene Understanding of LiDAR Sequences
    Jens Behley, Martin Garbade, Andres Milioto, Jan Quenzel, Sven Behnke, Cyrill Stachniss, and 1 more author
    In Proceedings of the IEEE International Conference on Computer Vision (ICCV), Nov 2019
    DOI
  2. Reconstruction of Textured Meshes for Fire and Heat Source Detection
    Radu Alexandru Rosu, Jan Quenzel, and Sven Behnke
    In Proceedings of the IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR), Nov 2019
    DOI
  3. Detection and Tracking of Small Objects in Sparse 3D Laser Range Data
    Jan Razlaw, Jan Quenzel, and Sven Behnke
    In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Nov 2019
    DOI
  4. Autonomous MAV-based Indoor Chimney Inspection with 3D Laser Localization and Textured Surface Reconstruction
    Jan Quenzel, Matthias Nieuwenhuisen, David Droeschel, Marius Beul, Sebastian Houben, and Sven Behnke
    Journal of Intelligent & Robotic Systems (JINT), Nov 2019
    DOI
  5. Team NimbRo at MBZIRC 2017: Fast Landing on a Moving Target and Treasure Hunting with a Team of Micro Aerial Vehicles
    Marius Beul, Matthias Nieuwenhuisen, Jan Quenzel, Radu Alexandru Rosu, Jannis Horn, Dmytro Pavlichenko, and 2 more authors
    Journal of Field Robotics (JFR), Nov 2019
    DOI

2018

  1. Keyframe-based Photometric Online Calibration and Color Correction
    Jan Quenzel, Jannis Horn, Sebastian Houben, and Sven Behnke
    In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Nov 2018
    DOI
  2. Fast Autonomous Flight in Warehouses for Inventory Applications
    Marius Beul, David Droeschel, Matthias Nieuwenhuisen, Jan Quenzel, Sebastian Houben, and Sven Behnke
    IEEE Robotics and Automation Letters (RA-L), Nov 2018
    DOI

2017

  1. Online Depth Calibration for RGB-D Cameras using Visual SLAM
    Jan Quenzel, Radu Alexandru Rosu, Sebastian Houben, and Sven Behnke
    In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Nov 2017
    DOI
  2. Collaborative Object Picking and Delivery with a Team of Micro Aerial Vehicles at MBZIRC
    Matthias Nieuwenhuisen, Marius Beul, Radu Alexandru Rosu, Jan Quenzel, Dmytro Pavlichenko, Sebastian Houben, and 1 more author
    In Proceedings of the European Conference on Mobile Robots (ECMR), Nov 2017
    DOI
  3. ChimneySpector: Autonomous MAV-based Indoor Chimney Inspection Employing 3D Laser Localization and Textured Surface Reconstruction
    Matthias Nieuwenhuisen, Jan Quenzel, Marius Beul, David Droeschel, Sebastian Houben, and Sven Behnke
    In Proceedings of the International Conference on Unmanned Aircraft Systems (ICUAS), Nov 2017
    DOI

2016

  1. Efficient Multi-camera Visual-Inertial SLAM for Micro Aerial Vehicles
    Sebastian Houben, Jan Quenzel, Nicola Krombach, and Sven Behnke
    In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Nov 2016
    DOI
  2. Robust Extrinsic Calibration of Multiple Stationary Laser Range Finders
    Jan Quenzel, Nils Papenberg, and Sven Behnke
    In Proceedings of the IEEE International Conference on Automation Science and Engineering (CASE), Nov 2016
    DOI