Dr. rer. nat. Felix v. Hundelshausen (Deutsch)

web page Felix v. Hundelshausen

Dr. rer. nat. Felix von Hundelshausen 

felix

Universität der Bundeswehr München
Fakultät für Luft und Raumfahrttechnik
Institut für Technik autonomer Systeme
Werner-Heisenberg-Weg 39
85579 Neubiberg, Germany
e-mail: email1.jpgemail2.jpg
Tel : +49-(0)89-6004-4145
Fax: +49-(0)89-6004-3074

 

My interests cover artificial intelligence, robotics, computer vision, and perception in general. From a practical point of view my dream is to realize challenging robotic applications. For instance, I believe in great opportunities in the field of greenhouse horticulture for robotic applications.  From a theoretical and biological point of view my dream is to understand how the human brain works.

I am focussing my research on the correspondence problem, which I believe to be the key for advances in machine perception and artificial intelligence. The correspondence problem plays an essential role in many different research areas, having implications for not only visual perception (and acoustic, olfactory or tactile perception) but also for navigation, planning, machine learning and even language understanding. Some questions that show the involvement of the correspondence problem in different areas are:

  • How does a caricature match a face?
  • How can an acoustic signal be matched to a stored pattern?
  • How can different chairs be recognized to belong to the same object class?
  • How does a robot know where it is in a map?
  • How can two different texts tell the same story despite different words?

So far, most of my research on the correspondence problem has focussed on robotic perception and navigation. I have built perception systems for soccer playing robots (RoboCup), autonomous vehicles, and a humanoid robot. All systems were developped in C++.

The robots I am currently working with are the autonomous vehicle MuCAR-3 at our institute and the humanoid robot LOLA of the applied mechanics group of Prof. Ulbrich at TUM. While the applied mechanics group of Prof. Ulbrich is interested in the science of and around walking, I am interested in the perception system and we realized a first version within the  DFG-project (German Research Agency) "Towards a general vision system for humanoid robots".  We have succesfully forged our algorithms together into a single working system, that was demonstrated at Hannover Messe 2010. Our achievement is a new degree of flexibility: Lola is able to walk around in an environment that hasn't been defined and modelled before. Lola can avoid any obstacles and we demonstrate this, allowing the spectators to place any objects as obstacles on the ground.

Here are some links to press coverage and videos that demonstrate these capabilities.

Although I am fascinated by the robots themselves, I see their scientific value in that they force new ideas to stay on the ground, e.g. to include temporal aspects in perception, which are often ignored by researchers (e.g. in many works on object recognition and classification).

 

Short vitae

From 2001 to 2004 I was PhD-student in the group of Prof. Raúl Rojas at the Free University of Berlin. During this time, I developed a computer vision system for the RoboCup Middle Size league. Our team placed 2nd at the world championships in 2005 using this system. From 2004 to 2005 I was Postdoc in the CORAL group of Prof. Manuela Veloso at Carnegie Mellon University (CMU), Pittsburgh, USA. Since 2006 I am in the group of Prof. H. J. Wünsche, the successor of Prof. E. D. Dickmanns (emeritus), carrying on research on perception for autonomous vehicles. Since 2008, I am responsible for the development of the computer vision system for the humanoid robot Lola, collaborating with the Applied Mechanics group of Prof. Heinz. Ulbrich at TU-Munich. This collaboration takes place in form of the DFG-project "Towards a general vision system for humanoid robots". In March 2011, I became "Juniorprofessor" at our institute.

Prices and Awards

2001 Study Award of the German Körber-Stiftung
2001 Placed 1st at the RoboCup world championships, Local Vision Derby (my
diploma thesis), Seattle, USA
2005 Placed 2nd at the RoboCup world championships, MS-League, Osaka, Japan
2005 Placed 1st at the RoboCup US-Open 2005, Sony-Legged-League
2007 Finalist at DARPA Urban Challenge 2007 as team member of team AnnieWay
2007-2010 Best scores with our autonomous car MuCAR-3 at the European-Land-Robot Trials (no official rankings are provided by ELROB due to the intended "trial" character)

 

 

 

 

 

 

Programming Skills

  • Strong coding skills in C++

  • Strong coding skills in assembly language

  • Experience with GPU-programming (CUDA)

  • Experience with OpenCV, QT, EIGEN, etc.

  • Experience with microcontroller programming for Freescale, Atmel, etc.

Research Community

Member of Program Comittees

  • IEEE Conference on Computer Vision and Pattern Recognition (CVPR 2012) 
  • IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012)
  • IEEE/RSJ International Conference on Intelligent Robots and Systems (ICRA 2012)
  • IEEE/RSJ International Conference on Intelligent Robots and Systems (ICRA 2011)
  • IEEE-RAS International Conference on Humanoid Robots 2011 (Humanoids 2011)
  • IEEE Intelligent Vehicle Symposium 2011 (IV 2011)
  • IEEE/RSJ International Conference on Intelligent Robots and Systems (ICRA 2005)
  • International Conference on Motion and Vibration Control (MOVIC 2008)
  • International RoboCup Symposium 2005 (RoboCup 2005)
  • International Conference on Informatics and Control, Automation and Robotics  2005(ICINCO 2005)

Service as reviewer for journals:

  • Machine Vision and Applications
  • Pattern Recognition
  • Image and Vision Computing
  • Communications of the ACM
  • Biological Cybernetics
  • Intelligent Automation & Soft Computing
  • Computer-Aided Design
  • Journal of Field Robotic Research
  • Robotics and Autonomous Systems
  • Intelligent Transportation Systems

 

Publications

D‐Nets: Beyond Patch Based Image Descriptors. Felix von Hundelshausen and Rahul Sukthankar. IEEE International Conference on Computer Vision and Pattern Recognition (CVPR 2012). June 18‐20, 2012, Providence, Rhode Island, USA (accepted for publication)

3D Outline Contours of Vehicles in 3D‐LIDAR‐Measurements for Tracking Extended Targets. Philipp Steinemann, Jens Klappstein, Jürgen Dickmann, Hans‐Joachim Wünsche and Felix von Hundelshausen. IEEE Intelligent Vehicles Symposium (IV 2012), June 3‐7, 2012, in Alcalá de Henares, Spain. (accepted for publication)

Geometric‐Model‐Free Tracking of Extended Targets Using 3D‐LIDAR-Measurements. Philipp Steinemann, Jens Klappstein, Jürgen Dickmann, Felix von Hundelshausen, Hans‐Joachim Wünsche. SPIE Defense, Security and Sensing. April 2012, Baltimore, Maryland, USA (accepted for publication)

GIS-Based Topological Robot Localization through LIDAR Crossroad Detection (Andre Mueller, Michael Himmelsbach, Thorsten Luettel, Felix von Hundelshausen, Hans-Joachim Wuensche), In Proceedings of International IEEE Conference on Intelligent Transportation Systems, 2011. (accepted for publication)

Combining Multiple Robot Behaviors for Complex Off-Road Missions (Thorsten Luettel, Michael Himmelsbach, Michael Manz, Andre Mueller, Felix von Hundelshausen, Hans-Joachim Wuensche), In Proceedings of International IEEE Conference on Intelligent Transportation Systems, 2011. (accepted for publication)

Parking Space Detection with Hierarchical Dynamic Occupancy Grids. Matthias Schmid, Savas Ates, Jürgen Dickmann, Felix v. Hundelshausen and Hans-Joachim Wünsche. In 2011 Intelligent Vehicles Symposium, 2011, Baden-Baden, Germany

Determining the Outline Contour of Vehicles in 3D-LIDAR-Measurements. Philipp Steinemann, Jens Klappstein, Jürgen Dickmann, Hans-Joachim Wünsche and Felix v. Hundelshausen. In 2011 Intelligent Vehicles Symposium, 2011, Baden-Baden, Germany

Cognitive Navigation — An Overview of three Navigation Paradigms Leading to the Concept of an Affordance Hierarchy. Felix von Hundelshausen, Thorsten Luettel, Hans-Joachim Wuensche, In Kuenstliche Intelligenz, volume Special Issue on Off-Road-Robotics, 2011

Autonomous Off-Road Navigation for MuCAR-3 — Improving the Tentacles Approach: Integral Structures for Sensing and Motion. Michael Himmelsbach, Thorsten Luettel, Falk Hecker, Felix von Hundelshausen, Hans-Joachim Wuensche, In Kuenstliche Int  elligenz, volume Special Issue on Off-Road-Robotics, 2011

Monocular Model-Based 3D Vehicle Tracking for Autonomous Vehicles in Unstructured Environment. Michael Manz, Thorsten Luettel, Felix von Hundelshausen, Hans-Joachim Wuensche,In Proceedings of IEEE International Conference on Robotics and Automation, 2011

A Hybrid Estimation Approach for Autonomous Dirt Road Following using Multiple Clothoid Segments. Michael Manz, Felix von Hundelshausen, Hans-Joachim Wuensche, In Proceedings of the IEEE International Conference on Robotics and Automation, 2010

Walking in Unknown Environments — a Step Towards More Autonomy. Thomas Buschmann, Sebastian Lohmeier, Markus Schwienbacher, Valerio Favot, Heinz Ulbrich, Felix von Hundelshausen, Gerhard Rohe, Hans J Wuensche. In Proceedings of the IEEE-RAS International Conference on Humanoid Robot ,pp. 237-244, Nashville, TN, USA, 2010

Driving with tentacles: Integral structures for sensing and motion. F. von Hundelshausen, F., Himmelsbach, M., Hecker, F., Mueller, A., and Wuensche, H. 2008. J. Field Robot. 25, 9 (Sep. 2008), 640-673.

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Team AnnieWAY's autonomous system for the 2007 DARPA Urban Challenge. Kammel, S., Ziegler, J., Pitzer, B., Werling, M., Gindele, T., Jagzent, D., Schröder, J., Thuy, M., Goebl, M., Hundelshausen, F. v., Pink, O., Frese, C., and Stiller, C. 2008.  J. Field Robot. 25, 9 (Sep. 2008), 615-639

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Mesh-based Active Monte Carlo Recognition. F. von Hundelshausen, H.-J. Wuensche, Marco Block, Raul Kompass and Raúl Rojas, In Proceedings of the 20th International Joint Conference on Artificial Intelligence (IJCAI07), pp. 2231-2236, Hyderabad, India, 2007.

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Active Monte Carlo Recognition. F. v. Hundelshausen and Veloso, M. In Proceedings of the 29th Annual German Conference on Artificial Intelligence. Springer Lecture Notes in Artificial Intelligence, pp. 229-243, 2006.

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FOCUS: a generalized method for object discovery for robots that observe and interact with humans. M. Veloso, P. E. Rybski and F. von Hundelshausen, In Proceedings of the 2006 Conference on Human-Robot Interaction, pp. 102-109, Salt Lake City, UT, March, 2006.

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Learning Visual Object Definitions by Observing Human Activities. M. Veloso, F. von Hundelshausen, P. E. Rybski, In Proceedings of Humanoids 2005, Japan, December, 2005.

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Robot Localization through Region Tracking. F. v. Hundelshausen, In it-Technology, 47(5), pp. 258-265, Oldenburg Wissenschaftsverlag, May, 2005.

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Computer Vision for Autonomous Mobile Robots. F. v. Hundelshausen. Dissertation, Department of Computer Science, Free University of Berlin , September, 2004.

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A constructive feature-detection approach for mobile robotics. In  RoboCup 2004: Robot Soccer World Cup VIII. Lecture Notes in Computer Science 3276, Springer 2005, pp. 72-83, Lisboa, July 5-7, 2004.

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Tracking Regions. In RoboCup 2003: Robot Soccer World Cup VII, Lecture Notes in Computer Science 3020, Springer 2004 , Padova, July 10-11, 2003.

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Matrix: A force field pattern matching method for mobile robots. Technical Report B-09-03, Freie Universität Berlin, June 2003.

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Localizing a robot by the marking lines on a soccer field. In Ondřej Drbohlav,editor, Proceedings of the Computer Vision Winter Workshop, CVWW03, pp. 135-140, February 2003.

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Tracking Regions and Edges by Shrinking and Growing. In Ondřej Drbohlav, editor, Proceedings of the Computer Vision Winter Workshop, CVWW03, pp. 33-38, February 2003.

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FU-Fighters Omni 2001 (Local Vision) In RoboCup-01: Robot Soccer World Cup VLecture Notes in Computer Science 2377, Springer 2002.

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A general algorithm for finding transitions along lines in colored images. Proceedings of the Computer Vision Winter Workshop, CVWW02, February 2002.

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An omnidirectional vision system for soccer robots. master thesis (Diplom), Department of Computer Science, Free University of Berlin, April 2001

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robots