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Institut für Robotik und Mechatronik: Dr. Heiko Hirschmüller

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Dr. Heiko Hirschmüller

Deutsches Zentrum für Luft- und Raumfahrt (DLR)
Institut für Robotik und Mechatronik
Perzeption und Kognition
Oberpfaffenhofen
Münchener Str. 20
82234 Weßling

Telefon: +49 8153 28-3316
E-Mail: Dr. Heiko Hirschmüller

News

I am now with the DLR spin-off Roboception GmbH, which I co-founded early 2015.

Research Interests

Stereo matching Visual odometry and
image registration
3D reconstruction

Stereo vision based navigation
of mobile robots

I am also maintaining the Computer Vision Toolkit (cvkit - see bottom of SGM web page) for visualization and analysis of computer vision images and 3D models. Furthermore, I am involved in the Middlebury Stereo Benchmark.

Awards

2014

  • GCPR 2014 Best Paper Award: Daniel Scharstein, Heiko Hirschmüller, York Kitajima, Greg Krathwohl, Nera Nesic, Xi Wang and Porter Westling, High-resolution Stereo Datasets with Subpixel-Accurate Ground Truth, 36th German Conference on Pattern Recognition (GCPR), September 2014, Münster, Germany.

2013

  • Robocup Best Paper Award: Korbinian Schmid, Teodor Tomic, Felix Ruess, Heiko Hirschmüller and Michael Suppa, Stereo Vision based indoor/outdoor Navigation for Flying Robots, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), November 2013, Tokyo Japan.

2011

  • Carl Pulfrich Award for outstanding achievements in Photogrammetry, Remote Sensing and Earth Imaging applications (5th September 2011, Photogrammetric Week, Stuttgart, Germany).

2009

  • DLR Wissenschaftspreis for Stereo Processing by Semi-Global Matching and Mutual Information (26th November 2009, Berlin, Germany).

Journal Papers

2014

2012

  • Annett Stelzer, Heiko Hirschmüller and Martin Görner (2012), Stereo-Vision-Based Navigation of a Six-Legged Walking Robot in Unknown Rough Terrain, in the International Journal of Robotics Research, Special Issue on Robot Vision, Volume 31, Issue 4, pp. 381-402.
  • Korbinian Schmid, Heiko Hirschmüller, Andreas Dömel, Iris Grixa, Michael Suppa and Gerd Hirzinger (2012), View planning for multi-view stereo 3D reconstruction using an autonomous multicopter, Journal of Intelligent and Robotic Systems, Volume 65, pp. 309-323.
  • Jan Bartelsen, Helmut Mayer, Heiko Hirschmüller, Andreas Kuhn and Mario Michelini (2012), Orientation and Dense Reconstruction from Unordered Wide Baseline Image Sets, Photogrammetrie, Fernerkundung, Geoinformation (PFG), Volume 4, pp. 417-428.

2009

2008

2002

  • Heiko Hirschmüller, Peter R. Innocent and Jon Garibaldi (2002), Real-Time Correlation-Based Stereo Vision with Reduced Border Errors, International Journal of Computer Vision, Volume 47 (1/2/3), April-June 2002, pp. 229-246.

Conference Papers

2015

  • Martin Schuster, Christoph Brand, Heiko Hirschmüller, Michael Suppa and Michael Beetz, Mutli-Robot 6D Graph SLAM Connecting Decoupled Local Reference Filters, International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany, 28th September - 2nd October 2015.
  • Christoph Brand, Martin Schuster, Heiko Hirschmüller and Michael Suppa, Submap Matching for Stereo-Vision Based Indoor/Outdoor SLAM, International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany, 28th September - 2nd October 2015.
  • Heiko Hirschmüller, Korbinian Schmid and Michael Suppa, Computer Vision for Mobile Robot Navigation, Photogrammetric Week, Stuttgart, Germany, September 2015, pp. 143-154.

2014

  • Andreas Kuhn, Helmut Mayer, Heiko Hirschmüller and Daniel Scharstein, A TV Prior for High-Quality Local Multi-View Stereo Reconstruction, International Conference on 3D Vision (3DV), December 2014, Tokyo, Japan.
  • Daniel Scharstein, Heiko Hirschmüller, York Kitajima, Greg Krathwohl, Nera Nesic, Xi Wang and Porter Westling, High-Resolution Stereo Datasets with Subpixel-Accurate Ground Truth, 36th German Conference on Pattern Recognition (GCPR), September 2014, Münster, Germany. (GCPR 2014 Best Paper Award)
  • Christoph Brand, Martin J. Schuster, Heiko Hirschmüller and Michael Suppa, Stereo-Vision Based Obstacle Mapping for Indoor/Outdoor SLAM, accepted for the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), September 2014, Chicago, Illinois, USA.

2013

  • Korbinian Schmid, Teodor Tomic, Felix Ruess, Heiko Hirschmüller and Michael Suppa, Stereo Vision based indoor/outdoor Navigation for Flying Robots, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), November 2013, Tokyo Japan. (Robocup Best Paper Award)
  • Andreas Kuhn, Heiko Hirschmüller and Helmut Mayer, Multi-Resolution Range Data Fusion for Multi-View Stereo Reconstruction, 35th German Conference on Pattern Recognition (GCPR), September 2013, Saarbrücken, Germany.
  • Korbinian Schmid and Heiko Hirschmüller, Stereo Vision and IMU based Real-Time Ego-Motion and Depth Image Computation on a Handheld Device, IEEE International Conference on Robotics and Automation, May 2013 in Karlsruhe, Germany.

2012

2011

  • Annett Chilian, Heiko Hirschmüller and Martin Görner, Multisensor Data Fusion for Robust Pose Estimation of a Six-Legged Walking Robot, IEEE International Conference on Intelligent Robots and Systems (IROS) in September 2011 in San Francisco, CA, USA.
  • Heiko Hirschmüller, Semi-Global Matching - Motivation, Developments and Applications, Invited Paper at the Photogrammetric Week, September 2011 in Stuttgart, Germany, pp. 173-184.
  • Korbinian Schmid, Heiko Hirschmüller, Andreas Dömel, Iris Grixa, Michael Suppa and Gerd Hirzinger, View planning for multi-view stereo 3D reconstruction using an autonomous multicopter, International Conference on Unmanned Aircraft Systems in May 2011 in Denver, CO, USA.

2010

  • Florian-Michael Adolf and Heiko Hirschmüller (2010), Surface Meshing and Simplification of High Resolution Urban Terrain Data for 3D Path Planning, UAV in June 2010 in Dubai.
  • Martin Görner, Annett Chilian and Heiko Hirschmüller (2010), Towards an Autonomous Walking Robot for Planetary Surfaces, in Proceedings of the 10th International Symposium on Artificial Intelligence, robotics and Automation in Space (i-SAIRAS), August/September 2010 in Sapporo, Japan.
  • Bernhard Rebele, Armin Wedler, Maximilian Apfelbeck, Heiko Hirschmüller, Sebastian Kuss, Andreas Gibbesch, Bernd Schäfer and Gerd Hirzinger (2010), Advanced Testbed and Simulation Environment for Planetary Exploration and Mobility Investigations, in Proceedings of the 10th International Symposium on Artificial Intelligence, robotics and Automation in Space (i-SAIRAS), August/September 2010 in Sapporo, Japan. (best poster award)
  • Heiko Hirschmüller and Tilman Bucher (2010), Evaluation of Digital Surface Models by Semi-Global Matching, DGPF, July 2010 in Vienna, Austria.

2009

  • Annett Chilian and Heiko Hirschmüller (2009), Stereo Camera Based Navigation of Mobile Robots on Rough Terrain, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) in October 2009 in St. Louis, MO, USA.
  • Heiko Hirschmüller and Stefan Gehrig (2009), Stereo Matching in the Presence of Sub-Pixel Calibration Errors, in Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition, 20-25 June 2009, Miami, Florida, USA, pp. 437-444.

2008

  • Ines Ernst and Heiko Hirschmüller (2008), Mutual Information based Semi-Global Stereo Matching on the GPU, in Proceedings of the International Symposium on Visual Computing (ISVC08), 1-3 December 2008, Las Vegas, Nevada, USA.
  • Anko Börner, Heiko Hirschmüller, Karsten Scheibe, Michael Suppa and Jürgen Wohlfeil (2008), MFC - A Modular Line Camera for 3D World Modelling, Robot Vision: Second International Workshop RobVis 2008, LNCS 4931, 18.-20. February, Auckland, New Zealand, pp. 319-326.

2007

  • Heiko Hirschmüller and Daniel Scharstein (2007), Evaluation of Cost Functions for Stereo Matching, in Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition, 18-23 June 2007, Minneapolis, Minnesota, USA.
  • Anko Börner, Heiko Hirschmüller, Michael Neidhardt, Michael Nitz, Karsten Scheibe, Jürgen Wohlfeil and Sergej Zuev (2007), Ableitung photogrammetrischer Produkte mit der MFC-Kamera, Dreiländertagung 2007, Gemeinsame Jahrestagung der SGPBF, DGPF und OVG, June 2007, Muttenz, Switzerland.

2006

  • Christian Ott, O. Eiberger, W. Friedl, B. Bauml, U. Hillenbrand, C. Borst, A. Albu-Schaffer, B. Brunner, H. Hirschmüller, S. Kielhofer, R. Konietschke, M. Suppa, T. Wimbock, F. Zacharias, G. Hirzinger (2006), A Humanoid Two-Arm System for Dexterous Manipulation, 6th IEEE-RAS International Conference on Humanoid Robots, December 2006, Genoa, Italy, pp. 276-283.
  • Heiko Hirschmüller (2006), Stereo Vision in Structured Environments by Consistent Semi-Global Matching, in Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition, 17-22 June 2006, New York, NY, USA, pp. 2386-2393.
  • Anko Börner, Michael Suppa, Thomas Abmayr, Tim Bodenmüller, Andreas Eckardt, Heiko Hirschmüller, Karsten Scheibe and Bernhard Strackenbrock (2006), Ein modulares Sensorsystem zur multiskalaren Erfassung von dreidimensionalen Objekten, Geoinformatik und Erdbeobachtung, 26. Jahrestagung der DGPF, September 2006, Berlin-Adlershof, Germany, pp. 319-326.
  • Heiko Hirschmüller, Helmut Mayer, G. Neukum and the HRSC-CoI Team (2006), Stereo Processing of HRSC Mars Express Images by Semi-Global Matching, International Archives of Photogrammetry, Remote Sensing and Spatial Information Sciences, Volume XXXVI, Part 4, 27-30 September 2006, Goa, India.
  • C. Heipke, J. Oberst, J. Albertz, M. Attwenger, P. Dorninger, E. Dorrer, M. Ewe, S. Gehrke, K. Gwinner, H. Hirschmüller, J. R. Kim, R. L. Kirk, H. Mayer, J.-P. Muller, R. Rengarajan, M. Rentsch, R. Schmidt, F. Scholten, J. Shan, M. Spiegel, M. Wählisch, G. Neukum and the HRSC-CoI Team (2006), The HRSC DTM Test, International Archives of Photogrammetry, Remote Sensing and Spatial Information Sciences, Volume XXXVI, Part 4, 27-30 September 2006, Goa, India.
  • Johann Heindl, Martin Otter, Heiko Hirschmüller, Mirko Frommberger, Florian Siegert, Harald Heinrich (2006), The Robocoaster Simulation Platform - Path and Video Generation for an Authentic Mars Flight Simulation, 37th International Symposium on Robotics, 15-17 May 2006 in Munich, Germany.

2005

  • Heiko Hirschmüller, Frank Scholten, Gerd Hirzinger (2005), Stereo Vision Based Reconstruction of Huge Urban Areas from an Airborne Pushbroom Camera (HRSC), in Lecture Notes in Computer Science: Pattern Recognition, Proceedings of the 27th DAGM Symposium, 30 August - 2 September 2005, Vienna, Austria, Volume 3663, pp. 58-66.
  • Heiko Hirschmüller (2005), Accurate and Efficient Stereo Processing by Semi-Global Matching and Mutual Information, in Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition, 20-26 June 2005, San Diego, CA, USA, Volume 2, pp. 807-814.
  • Johann Heindl, Martin Otter, Heiko Hirschmüller, Mirko Frommberger, Norbert Sporer, Florian Siegert, Harald Heinrich (2005), The Robocoaster as Simulation Platform - Experiences from the First Authentic Mars Flight Simulation, in Proceedings of the Motion Simulator Conference, 21 September 2005, Braunschweig, Germany.
  • Gerd Hirzinger, Tim Bodenmüller, Heiko Hirschmüller, Rui Liu, Wolfgang Sepp, Michael Suppa, Thomas Abmayr, Bernhard Strackenbrock (2005), Photo-Realistic 3D-Modelling - From Robotics Perception Towards Cultural Heritage, in International Workshop on Recording, Modelling and Visualization of Cultural Heritage, 22-27 May 2005, Ascona, Switzerland.

2003

  • Heiko Hirschmüller (2003), Real-Time Map Building from a Stereo Camera under Unconstrained 3D Motion, in Proceedings of the Faculty Research Conference, 14-15 April 2003, Leicester, UK, pp. 1-6, Faculty of Computing Sciences and Engineering, De Montfort University.

2002

  • Heiko Hirschmüller, Peter R. Innocent and Jon M. Garibaldi (2002), Fast, Unconstrained Camera Motion Estimation from Stereo without Tracking and Robust Statistics, in Proceedings of the 7th International Conference on Control, Automation, Robotics and Vision, 2-5 December 2002, Singapore, pp. 1099-1104.

2001

  • Heiko Hirschmüller (2001), Improvements in Real-Time Correlation-Based Stereo Vision, in Proceedings of the IEEE Workshop on Stereo and Multi-Baseline Vision, 9-10 December 2001, Kauai, Hawaii, pp. 141-148.

1998

  • Micheal Callaghan and Heiko Hirschmüller (1998), 3-D Visualisation of Design Patterns and Java Programs in Computer Science Education, in Proceedings of the 6th Conference on Teaching of Computing, August 1998, Dublin, Ireland, pp. 37-40.
  • Heiko Hirschmüller, Michael Callaghan and Alan O'Callaghan (1998), Virtual Learning Environment for Object-Oriented Design Patterns, in Proceedings of Euromedia 98, 5-6 January 1998, Leicester, UK, pp. 238-245.

PhD Thesis

2003

  • Heiko Hirschmüller (2003), Stereo Vision Based Mapping and Immediate Virtual Walkthroughs, Ph.D. Thesis, De Montfort University, Leicester, UK, June 2003.

Other Publications

2013

  • Heiko Hirschmüller (2013), Beidäugiges Sehen für Roboter, Spektrum der Wissenschaft, Oktober 2013, pp. 90-91.

1993

  • Heiko Hirschmüller (1993), Pi auf eine Million Stellen, Amiga Magazin (Sonderheft), Markt & Technik Verlag, Germany, Volume 1, pp. 64-66.

Patents

2009

  • Inventors: Heiko Hirschmüller, Ines Ernst, Maximilian Buder, Anko Börner and Jürgen Wohlfeil (2009), Method and Apparatus for Reducing the Memory Requirement for Determining Disparity Values for at Least Two Stereoscopically Recorded Images, WO/2010/102840, PCT/EP2010/001598 (DE 10 2009 012 441), 12th March 2009.

 

Zuletzt aktualisiert: Donnerstag, 15. Oktober 2015 von Dr. Heiko Hirschmüller