ArminHornung.de

The private homepage of Armin Hornung

Research

Nao Robots
Photo by B. Schilling

As of now, I have left university and am working on Sensor Intelligence.

Before, I was a PhD student and postdoctoral research assistant at the Humanoid Robots Laboratory of the University of Freiburg, where I received my PhD under the supervision of Maren Bennewitz in March 2014.

See Projects and Publications below for more details about my research. Some videos of my work are also available in our lab's YouTube-Channel.

You can find some of the code that I develop and maintain on the Code page.

Projects

The OctoMap library provides a compact and efficient data structure for robotic mapping in arbitrary 3D environments. I am the co-developer and current maintainer of the project, which is available open-source at GitHub under the BSD license.



As a member of the DFG-funded SFB/TR8 Spatial Cognition, I work on humanoid robot navigation in complex indoor environments.



I am the developer and maintainer of several drivers and other software that integrates the Nao humanoid robot into ROS, a free and open source robot operating system. In addition to the Nao ROS stack, I also maintain the humanoid_navigation stack and the octomap_mapping stack that integrates OctoMap into ROS.

During a research internship at Willow Garage in California I worked on the manipulation occupancy map collider and developed the 3d_navigation stack. This set of software packages enables a mobile manipulation robot like the PR2 to navigate in complex, threedimensional and cluttered environments.



Publications

You can also find my publications at Google Scholar and DBPL.

2014

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    Armin Hornung, Sebastian Böttcher, Christian Dornhege, Andreas Hertle, Jonas Schlagenhauf, and Maren Bennewitz
    Mobile Manipulation in Cluttered Environments with Humanoids: Integrated Perception, Task Planning, and Action Execution
    In: Proceedings of the IEEE-RAS International Conference on Humanoid Robots, 2014.
    (Show abstract) (Show BibTeX) PDF Video
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    Armin Hornung.
    Humanoid Robot Navigation in Complex Indoor Environments.
    PhD thesis, Albert-Ludwigs-Universität, Freiburg, Germany 2014.
    (Show abstract) (Show BibTeX) PDF FreiDok
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    Armin Hornung, Stefan Osswald, Daniel Maier, and Maren Bennewitz
    Monte Carlo Localization for Humanoid Robot Navigation in Complex Indoor Environments
    In: International Journal of Humanoid Robotics Volume 11, Issue 2, 2014.
    (Show abstract) (Show BibTeX) PDF DOI: 10.1142/S0219843614410023

2013

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    Armin Hornung
    3D Mapping with OctoMap
    Presentation at ROSCon 2013.
    Slides (PDF)
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    Armin Hornung, Daniel Maier, and Maren Bennewitz
    Search-Based Footstep Planning
    In: Proceedings of the ICRA Workshop on Progress and Open Problems in Motion Planning and Navigation for Humanoids, 2013.
    (Show abstract) (Show BibTeX) PDF
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    Felix Burget, Armin Hornung, and Maren Bennewitz
    Whole-Body Motion Planning for Manipulation of Articulated Objects
    In: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2013.
    (Show abstract) (Show BibTeX) PDF Video
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    Armin Hornung, Kai M. Wurm, Maren Bennewitz, Cyrill Stachniss, and Wolfram Burgard
    OctoMap: An Efficient Probabilistic 3D Mapping Framework Based on Octrees
    In: Autonomous Robots Vol. 34, Issue 3, 2013.
    (Show abstract) (Show BibTeX) PDF DOI: 10.1007/s10514-012-9321-0 Project Website

2012

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    Armin Hornung, Andrew Dornbush, Maxim Likhachev, and Maren Bennewitz.
    Anytime Search-Based Footstep Planning with Suboptimality Bounds
    In: Proceedings of the IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS), 2012.
    (Show abstract) (Show BibTeX) PDF
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    Daniel Maier, Armin Hornung, and Maren Bennewitz.
    Real-Time Navigation in 3D Environments Based on Depth Camera Data
    In: Proceedings of the IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS), 2012.
    (Show abstract) (Show BibTeX) PDF Video
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    Christian Lutz, Felix Atmanspacher, Armin Hornung, and Maren Bennewitz.
    NAO Walking Down a Ramp Autonomously
    In: Video Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2012.
    (Show abstract) (Show BibTeX) PDF Video
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    Stefan Oßwald, Armin Hornung, Maren Bennewitz.
    Improved Proposals for Highly Accurate Localization Using Range and Vision Data
    In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2012.
    (Show abstract) (Show BibTeX) PDF Video
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    Armin Hornung
    ROS for Humanoid Robots
    Presentation at ROSCon 2012.
    Slides (PDF)
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    Armin Hornung and Maren Bennewitz.
    Adaptive Level-of-Detail Planning for Efficient Humanoid Navigation.
    In: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2012.
    (Show abstract) (Show BibTeX) PDF
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    Armin Hornung, Mike Phillips, E. Gil Jones, Maren Bennewitz, Maxim Likhachev, and Sachin Chitta.
    Navigation in Three-Dimensional Cluttered Environments for Mobile Manipulation.
    In: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2012.
    Also presented at the RSS 2012 Workshop on Robots in Clutter: Manipulation, Perception and Navigation in Human Environments
    (Show abstract) (Show BibTeX) PDF Video

2011

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    Maren Bennewitz, Daniel Maier, Armin Hornung, and Cyrill Stachniss.
    Integrated Perception and Navigation in Complex Indoor Environments.
    In: Proceedings of the HUMANOIDS 2011 workshop on Humanoid service robot navigation in crowded and dynamic environments, 2011.
    (Show BibTeX)
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    Stefan Oßwald, Jens-Steffen Gutmann, Armin Hornung, and Maren Bennewitz.
    From 3D Point Clouds to Climbing Stairs: A Comparison of Plane Segmentation Approaches for Humanoids.
    In: Proceedings of the IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS), 2011.
    (Show abstract) (Show BibTeX) PDF Video
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    Armin Hornung, E. Gil Jones, Sachin Chitta, Maren Bennewitz, Mike Phillips, and Maxim Likhachev.
    Towards Navigation in Three-Dimensional Cluttered Environments.
    In: Abstract Proceedings of The PR2 Workshop: Results, Challenges and Lessons Learned in Advancing Robots with a Common Platform at IROS 2011.
    (Show BibTeX)
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    Stefan Oßwald, Attila Görög, Armin Hornung, and Maren Bennewitz.
    Autonomous Climbing of Spiral Staircases with Humanoids.
    In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2011.
    (Show abstract) (Show BibTeX) PDF Video
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    Johannes Garimort, Armin Hornung, and Maren Bennewitz.
    Humanoid Navigation with Dynamic Footstep Plans.
    In: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2011.
    (Show abstract) (Show BibTeX) PDF Video Source code (ROS package)

2010

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    Armin Hornung, Kai M. Wurm, and Maren Bennewitz.
    Humanoid Robot Localization in Complex Indoor Environments.
    In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2010.
    (Show abstract) (Show BibTeX) PDF Video
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    Armin Hornung, Maren Bennewitz, and Wolfram Burgard.
    Learning Efficient Vision-based Navigation.
    In: Abstract Proceedings of the International Conference on Indoor Positioning and Indoor Navigation (IPIN), 2010.
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    Armin Hornung, Maren Bennewitz, Cyrill Stachniss, Hauke Strasdat, Stefan Oßwald, and Wolfram Burgard.
    Learning Adaptive Navigation Strategies for Resource-Constrained Systems.
    In: Proceedings of the 3rd International Workshop on Evolutionary and Reinforcement Learning for Autonomous Robot Systems (ERLARS) at the European Conference on Artificial Intelligence, 2010.
    (Show abstract) (Show BibTeX) PDF
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    Armin Hornung and Maren Bennewitz.
    Robust and Adaptive Navigation with Humanoid Robots.
    In: Abstract Proceedings of the Workshop on Motion Planning: From Theory to Practice at Robotics: Science and Systems (RSS), 2010.
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    Armin Hornung, Maren Bennewitz, and Hauke Strasdat.
    Efficient Vision-based Navigation - Learning about the Influence of Motion Blur.
    In: Autonomous Robots, Vol. 29, Number 2, 2010.
    (Show abstract) (Show BibTeX) PDF Video DOI: 10.1007/s10514-010-9190-3
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    Kai M. Wurm, Armin Hornung, Maren Bennewitz, Cyrill Stachniss, and Wolfram Burgard.
    OctoMap: A Probabilistic, Flexible, and Compact 3D Map Representation for Robotic Systems.
    In: Proceedings of the ICRA 2010 Workshop on Best Practice in 3D Perception and Modeling for Mobile Manipulation, 2010.
    (Show abstract) (Show BibTeX) PDF Project Website
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    Stefan Oßwald, Armin Hornung, and Maren Bennewitz.
    Learning Reliable and Efficient Navigation with a Humanoid.
    In: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2010.
    (Show abstract) (Show BibTeX) PDF Video

2009

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    Armin Hornung, Hauke Strasdat, Maren Bennewitz, and Wolfram Burgard.
    Learning Efficient Policies for Vision-based Navigation.
    In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2009.
    (Show abstract) (Show BibTeX) PDF
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    Armin Hornung.
    Learning Policies for Reliable Mobile Robot Localization.
    Diploma thesis, Albert-Ludwigs-Universität, Freiburg, Germany 2009.
    Awarded with the VDI-Förderpreis by the Association of German Engineers
    (Show abstract) (Show BibTeX) PDF

2008

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    Dapeng Zhang and Armin Hornung.
    A Table Soccer Game Recorder.
    In: Video Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2008.
    (Show abstract) (Show BibTeX)
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    Armin Hornung and Dapeng Zhang.
    On-line Detection of Rule Violations in Table Soccer.
    In KI 2008: Advances in Artificial Intelligence (KI 2008), pp. 217-224. Springer Verlag Berlin/Heidelberg; Kaiserslautern, Germany 2008.
    (Show abstract) (Show BibTeX) PDF
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    Dapeng Zhang, Bernhard Nebel and Armin Hornung.
    Switching Attention Learning - A Paradigm for Introspection and Incremental Learning.
    In Proceedings of the Fifth International Conference on Computational Intelligence, Robotics and Autonomous Systems (CIRAS 2008). Linz, Austria 2008.
    (Show abstract) (Show BibTeX) PDF

2007

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    Armin Hornung.
    Detecting Violations in Table Soccer Games Using Naive Bayes Classifiers.
    Student project, Albert-Ludwigs-Universität, Freiburg, Germany 2007.
    (Show abstract)