Staff

DLR German Aerospace Center
Institute of Robotics and Mechatronics
Perception and Cognition
Oberpfaffenhofen
Muenchener Str. 20
82234 Wessling

telephone:	+49 8153 28-3501
email:	Dr. Ulrich Hillenbrand

Here are the things I have mainly been working on:

Robust estimation

• G. Stillfried, U. Hillenbrand, M. Settles, and P. van der Smagt. MRI-based skeletal hand movement model. The Human Hand as an Inspiration for Robot Hand Development, R. Balasubramanian and V. J. Santos (editors), Springer Tracts in Advanced Robotics, Vol. 95, 2014, pp. 49-76.
• U. Hillenbrand and A. Fuchs. An experimental study of four variants of pose clustering from dense range data. Computer Vision and Image Understanding 115 (2011), pp. 1427-1448.
• U. Hillenbrand. Pose clustering from stereo data. Proceedings VISAPP International Workshop on Robotic Perception -- RoboPerc 2008, pp. 23-32.
• U. Hillenbrand. Consistent parameter clustering: definition and analysis. Pattern Recognition Letters 28 (2007), pp. 1112-1122.
• U. Hillenbrand and R. Lampariello. Motion and parameter estimation of a free-floating space object from range data for motion prediction. Proceedings International Symposium on Artificial Intelligence, Robotics and Automation in Space -- iSAIRAS 2005.

Object recognition 

• F. Bracci, U. Hillenbrand, Z. Márton, and M. H. F. Wilkinson. On the use of the tree structure of depth levels for comparing 3D object views. Proceedings International Conference on Computer Analysis of Images and Patterns -- CAIP 2017.
• M. Durner, Z. Márton, U. Hillenbrand, H. Ali, and M. Kleinsteuber. Active classifier selection for RGB-D object categorization using a Markov random field ensemble method. Proceedings International Conference on Machine Vision -- ICMV 2016.
• U. Hillenbrand. Detecting objects of a category in range data by comparing to a single geometric prototype. Proceedings IEEE/RSJ International Conference on Intelligent Robots and Systems -- IROS 2013.
• U. Hillenbrand. Non-parametric 3D shape warping. Proceedings International Conference on Pattern Recognition -- ICPR 2010. 
• H. Dutagaci, A. Godil, C. P. Cheung, T. Furuya, U. Hillenbrand, and R. Ohbuchi. SHREC 2010 - Shape retrieval contest of range scans. Proceedings Eurographics Workshop on 3D Object Retrieval 2010. 
• U. Hillenbrand. Towards shape understanding through non-parametric shape warping. IROS 2009 Workshop: Semantic Perception for Mobile Manipulation.
• U. Hillenbrand. On the relation between probabilistic inference and fuzzy sets in visual scene analysis. Pattern Recognition Letters 25 (2004), pp. 1691-1699. 
• E. Wahl, U. Hillenbrand, and G. Hirzinger. Surflet-pair-relation histograms: a statistical 3D-shape representation for rapid classification. Proceedings International Conference on 3-D Digital Imaging and Modeling -- 3DIM 2003, IEEE Computer Society Press, pp. 474-481. 
• U. Hillenbrand and G. Hirzinger. Probabilistic search for object segmentation and recognition. Proceedings European Conference on Computer Vision -- ECCV 2002, Lecture Notes in Computer Science Vol. 2352, Springer, pp. 791-806.
• U. Hillenbrand and G. Hirzinger. Object recognition and pose estimation from 3D geometric relations. Proceedings International Conference on Knowledge-Based Intelligent Engineering Systems & Allied Technologies -- KES 2000, IEEE, pp. 113-116. 

Computational neuroscience

• U. Hillenbrand. Subthreshold dynamics of the neural membrane potential driven by stochastic synaptic input. Physical Review E 66 (2002), article 021909.
• U. Hillenbrand and J. L. van Hemmen. Adaptation in the corticothalamic loop: computational prospects of tuning the senses. Philosophical Transactions of the Royal Society: Biological Sciences 357 (2002), pp. 1859-1867. 
• U. Hillenbrand. Spatiotemporal adaptation in the corticogeniculate loop. Doctoral thesis, Technical University of Munich, 2001,
  http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:91-diss2001020613098.
• U. Hillenbrand and J. L. van Hemmen. Does corticothalamic feedback control cortical velocity tuning? Neural Computation 13 (2001), pp. 327-355.
• U. Hillenbrand and J. L. van Hemmen. Spatiotemporal adaptation through corticothalamic loops: a hypothesis. Visual Neuroscience 17 (2000), pp. 107-118. 
• U. Hillenbrand and J. L. van Hemmen. On the use of thalamocortical adaptation for visual motion processing. Göttingen Neurobiology Report 1997, Thieme, p. 556. 
• U. Hillenbrand and J. L. van Hemmen. Collective dynamics of a system of adaptive velocity channels. Proceedings International Conference on Artificial Neural Networks -- ICANN 1996, Lecture Notes in Computer Science Vol. 1112, Springer, pp. 107-114. 

Robot grasping 

• Th. Stouraitis, U. Hillenbrand, and M. A. Roa. Functional power grasps transferred through warping and replanning. Proceedings IEEE International Conference on Robotics and Automation -- ICRA 2015.
• U. Hillenbrand and M. A. Roa. Transferring functional grasps through contact warping and local replanning. Proceedings IEEE/RSJ International Conference on Intelligent Robots and Systems -- IROS 2012.
• H. Ben Amor, O. Kroemer, U. Hillenbrand, G. Neumann, and J. Peters. Generalization of human grasping for multi-fingered robot hands. Proceedings IEEE/RSJ International Conference on Intelligent Robots and Systems -- IROS 2012.

Robot systems 

• B. Bäuml, T. Hammer, R. Wagner, O. Birbach, T. Gumpert, F. Zhi, U. Hillenbrand, S. Beer, W. Friedl, and J. Butterfass. Agile Justin: an upgraded member of DLR’s family of  lightweight and torque controlled humanoids . Video Proceedings IEEE International Conference on Robotics and Automation -- ICRA 2014. * Best Video Award * 
• L. Karlsson, J. Bidot, F. Lagriffoul, A. Saffiotti, U. Hillenbrand, and F. Schmidt. Combining task and path planning for a humanoid two-arm robotic system. Proceedings Combining Task and Motion Planning for Real-World Applications -- TAMPRA 2012. 
• Ch. Borst, Ch. Ott, T. Wimböck, B. Brunner, F. Zacharias, B. Bäuml, U. Hillenbrand, S. Haddadin, A. Albu-Schäffer, and G. Hirzinger. A humanoid upper-body system for two-handed manipulation. Video Proceedings IEEE International Conference on Robotics and Automation -- ICRA 2007. * Best Video Award *
• Ch. Ott, O. Eiberger, W. Friedl, B. Bäuml, U. Hillenbrand, Ch. Borst, A. Albu-Schäffer, B. Brunner, H. Hirschmüller, S. Kielhöfer, R. Konietschke, M. Suppa, T. Wimböck, F. Zacharias, and G. Hirzinger. A humanoid two-arm system for dexterous manipulation. Proceedings IEEE-RAS International Conference on Humanoid Robots -- Humanoids 2006, pp. 276-283.
• Ch. Ott, Ch. Borst, U. Hillenbrand, B. Brunner, B. Bäuml, and G. Hirzinger. The Robutler: towards service robots for the human environment. Video Proceedings IEEE International Conference on Robotics and Automation -- ICRA 2005.  * Finalist for the Video Award *
• U. Hillenbrand, Ch. Ott, B. Brunner, Ch. Borst, and G. Hirzinger. Towards service robots for the human environment: the Robutler. Proceedings Mechatronics & Robotics -- MechRob 2004, pp. 1497-1502.
• U. Hillenbrand, B. Brunner, Ch. Borst, and G. Hirzinger. The Robutler: a vision-controlled hand-arm system for manipulating bottles and glasses. Proceedings International Symposium on Robotics -- ISR 2004.